MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

20.9s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.3s	12 errors · 318 warnings · 1534 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/2026-09-11-01-16-40-681360-115475d3dc44-8688 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.34sINFOstatic_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' + 4.34sINFOstatic_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' + 4.35sINFOstatic_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' + 4.36sINFOstatic_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' + 4.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.61sINFOcontroller_managerupdate rate is 600 Hz + 4.61sINFOcontroller_managerOverruns handling is : enabled + 4.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.61sWARNcontroller_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. + 4.62sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104484 ms (missed cycles : 4). + 4.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.65sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.65sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.68sINFOros2_control_node-12process started with pid [8830] ×2 + 4.68sINFOmove_group-24process started with pid [8866] ×2 + 4.68sINFOparameter_manager_node-25process started with pid [8911] ×2 + 4.68sINFOwaypoint_manager_node-26process started with pid [8912] ×2 + 4.68sINFOmove_joint_resampler_node-27process started with pid [8913] ×2 + 4.69sINFOmove_end_effector_resampler_node-28process started with pid [8918] ×2 + 4.69sINFOobjective_server_node_main-29process started with pid [8919] ×2 + 4.69sINFOcomponent_container_mt-30process started with pid [8922] ×2 + 4.69sINFOcomponent_container_mt-31process started with pid [8923] ×2 + 4.69sINFOexecute_objective_bridge-32process started with pid [8924] ×2 + 4.69sINFOui_teleop_bridge-33process started with pid [8925] ×2 + 4.69sINFOweb_bridge-34process started with pid [8926] ×2 + 4.69sINFOtf2_web_republisher_node-35process started with pid [8927] ×2 + 4.69sINFOvideo_server-36process started with pid [8928] ×2 + 4.69sINFOweb_bridge_auth_proxy-37process started with pid [8931] ×2 + 4.69sINFOweb_video_auth_proxy-38process started with pid [8934] ×2 + 4.69sINFOcomponent_container_isolated-1process started with pid [8738] ×2 + 4.69sINFOcomponent_container_isolated-2process started with pid [8739] ×2 + 4.69sINFOstatic_transform_publisher-3process started with pid [8740] ×2 + 4.69sINFOstatic_transform_publisher-4process started with pid [8741] ×2 + 4.71sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.71sINFOodom_qos_relay.py-5process started with pid [8742] ×2 + 4.71sINFOforward_stereo_publisher.py-6process started with pid [8743] ×2 + 4.71sINFOlidar_flattener.py-7process started with pid [8744] ×2 + 4.71sINFOstatic_transform_publisher-8process started with pid [8745] ×2 + 4.71sINFOstatic_transform_publisher-9process started with pid [8746] ×2 + 4.71sINFOscan_to_scan_filter_chain-10process started with pid [8828] ×2 + 4.71sINFOscan_to_scan_filter_chain-11process started with pid [8829] ×2 + 4.71sINFOros2-13process started with pid [8831] ×2 + 4.71sINFOros2-14process started with pid [8832] ×2 + 4.71sINFOros2-15process started with pid [8833] ×2 + 4.71sINFOros2-16process started with pid [8834] ×2 + 4.71sINFOros2-17process started with pid [8839] ×2 + 4.71sINFOros2-18process started with pid [8840] ×2 + 4.71sINFOros2-19process started with pid [8841] ×2 + 4.71sINFOros2-20process started with pid [8843] ×2 + 4.71sINFOros2-21process started with pid [8847] ×2 + 4.71sINFOros2-22process started with pid [8848] ×2 + 4.71sINFOros2-23process started with pid [8862] ×2 + 4.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.76sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.76sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.77sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.77sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.77sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.77sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.77sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.77sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.77sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.77sINFOstatic_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 5.104484 ms (missed cycles : 4).[0m ×2 + 4.78sINFOcontroller_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. + 4.86sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.87sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.87sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.87sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.87sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.87sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.90sINFOmap_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. + 4.90sINFOmap_serverCreating + 4.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.91sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.91sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.92sINFOcontroller_serverCreating controller server + 4.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.93sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.98sINFOlocal_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. + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.00sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.00sINFOlocal_costmap.local_costmapCreating Costmap + 5.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.01sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.01sINFOrobot_state_publisherRobot initialized + 5.01sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.02sINFOcontroller_managerReceived robot description from topic. + 5.02sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.02sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.02sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.04sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.05sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.06sINFOlifecycle_manager_localizationCreating + 5.06sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.06sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.09sINFOvideo_server2026/09/11 01:16:47 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.09sINFOvideo_server2026/09/11 01:16:47 INF configuration loaded from /tmp/moveit-webrtc-65v1x2km/mediamtx.yml ×2 + 5.09sINFOvideo_server2026/09/11 01:16:47 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.09sINFOvideo_server2026/09/11 01:16:47 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.09sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.10sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.10sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.10sINFOmap_serverConfiguring + 5.10sINFOsmoother_serverCreating smoother server + 5.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.15sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.15sINFOamclConfiguring + 5.16sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.16sINFOmap_serverActivating + 5.16sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.20sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.21sINFOplanner_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. + 5.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.27sINFOplanner_serverCreating + 5.28sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.28sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.28sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.28sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.28sINFOamclActivating + 5.28sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.28sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.28sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.30sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.30sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.31sINFOamclSubscribed to map_topic: /map + 5.31sINFOamclSubscribed to scan_topic: /scan_merged + 5.31sINFOamclCreated reinitialize_global_localization service + 5.31sINFOamclCreated request_nomotion_update service + 5.32sINFOamclA new map was received + 5.32sINFOamclInitializing particle filter instance + 5.35sINFOglobal_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. + 5.37sINFOglobal_costmap.global_costmapCreating Costmap + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.45sINFObehavior_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. + 5.46sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.47sWARNlaser_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. + 5.47sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.53sINFObt_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. + 5.54sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.56sINFObt_navigatorCreating + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.62sINFOwaypoint_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. + 5.62sINFOwaypoint_followerCreating + 5.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.64sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.363754 seconds + 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 0.363754 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 + 5.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.69sINFOvelocity_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. + 5.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.75sINFOlifecycle_manager_navigationCreating + 5.77sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.80sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.80sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.80sINFOcontroller_serverConfiguring controller interface + 5.80sINFOcontroller_servergetting progress checker plugins.. + 5.80sINFOcontroller_servergetting goal checker plugins.. + 5.81sINFOcontroller_serverController frequency set to 20.0000Hz + 5.81sINFOlocal_costmap.local_costmapConfiguring + 5.83sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.86sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508150 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508150 ms (missed cycles : 2).[0m ×2 + 5.90sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.90sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.91sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.94sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.95sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.96sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.97sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.97sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.01sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.03sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.03sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.04sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.04sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.04sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.04sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.05sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.05sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.06sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.06sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.06sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.06sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.06sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.07sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.07sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.07sINFOcontroller_serverOptimizer reset ×2 + 6.09sINFOcontroller_serverController Server has FollowPath controllers available. + 6.10sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.10sINFOsmoother_serverConfiguring smoother server + 6.11sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.11sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.12sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.13sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.14sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.14sINFOplanner_serverConfiguring + 6.14sINFOglobal_costmap.global_costmapConfiguring + 6.14sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.16sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.16sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.16sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.17sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.20sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.20sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.20sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.21sINFOamclParticle filter initialization completed + 6.21sINFOamclInitializing particles from map + 6.21sINFOamclParticle filter initialized with 5000 particles distributed across the map + 6.22sINFOwaypoint_manager_nodeLoaded robot model in 0.402404 seconds[0m ×2 + 6.22sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.22sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.26sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.26sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.27sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.27sINFOplanner_serverPlanner Server has GridBased planners available. + 6.29sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.29sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.29sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.29sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.29sINFObehavior_serverConfiguring + 6.30sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.31sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.31sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.32sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.32sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.33sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.33sINFObehavior_serverConfiguring spin + 6.34sINFObehavior_serverConfiguring backup + 6.36sINFObehavior_serverConfiguring drive_on_heading + 6.37sINFObehavior_serverConfiguring assisted_teleop + 6.39sINFObehavior_serverConfiguring wait + 6.40sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.40sINFObt_navigatorConfiguring + 6.41sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.42sWARNbt_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 + 6.49sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.49sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.49sWARNmove_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. + 6.49sWARNmove_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. + 6.49sWARNmove_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 + 6.49sWARNmove_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. + 6.49sWARNmove_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 + 6.49sWARNmove_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. + 6.49sWARNmove_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. + 6.49sWARNmove_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 + 6.49sWARNmove_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. + 6.49sWARNmove_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 + 6.49sWARNmove_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. + 6.49sWARNmove_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. + 6.49sWARNmove_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 + 6.49sWARNmove_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 + 6.49sWARNmove_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 + 6.49sWARNmove_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. + 6.49sWARNmove_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 + 6.49sWARNmove_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. + 6.49sWARNmove_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 + 6.49sWARNmove_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 + 6.51sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.51sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.51sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.51sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.54sINFOros2_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 + 6.54sINFOros2_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 + 6.57sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.61sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.61sINFOwaypoint_followerConfiguring + 6.63sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.64sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.64sINFOvelocity_smootherConfiguring velocity smoother + 6.64sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.64sINFOcontroller_serverActivating + 6.64sINFOlocal_costmap.local_costmapActivating + 6.64sINFOlocal_costmap.local_costmapChecking transform + 6.64sINFOlocal_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. ×13 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sINFOmove_group[2026-09-11 01:16:49.216] [moveit_pro_license] [info] ×2 + 6.83sINFOmove_group************************************************* ×4 + 6.83sINFOmove_group* MoveIt Pro License ×2 + 6.83sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 7.16sINFOwaypoint_manager_node[2026-09-11 01:16:49.551] [moveit_pro_license] [info] ×2 + 7.16sINFOwaypoint_manager_node************************************************* ×4 + 7.16sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.16sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.24sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.24sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.24sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.24sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.24sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.24sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.24sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.24sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.25sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.25sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.25sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.25sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.25sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.41sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.41sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.41sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.41sWARNros2_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 + 7.41sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.41sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.41sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.41sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.41sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.41sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.41sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.41sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.41sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.41sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.41sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.41sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.41sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.41sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.41sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.41sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.41sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.41sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.41sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.41sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.41sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.41sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654898 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654898 ms (missed cycles : 2).[0m ×2 + 7.52sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.52sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.53sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.62sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.62sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 7.62sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.62sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 7.77sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 7.77sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 7.81sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 7.81sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 7.81sINFOros2_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 + 7.81sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 7.81sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.81sWARNros2_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 + 7.81sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 7.83sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.83sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.84sINFOobjective_server_node[2026-09-11 01:16:50.233] [moveit_pro_license] [info] ×2 + 7.84sINFOobjective_server_node************************************************* ×4 + 7.84sINFOobjective_server_node* MoveIt Pro License ×2 + 7.84sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.92sINFOobjective_server_nodeLoaded robot model in 0.0347562 seconds[0m ×2 + 7.92sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.92sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.01sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.04sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.05sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.07sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.07sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.07sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.07sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.07sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.07sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.07sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.08sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.08sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.08sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.08sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.08sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.08sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.22sWARNcomponent_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 + 8.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.28sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.30sINFOstreaming_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) + 8.30sINFOcomponent_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 + 8.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.34sINFOros2_control_node[2026-09-11 01:16:50.729] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.34sINFOros2_control_node[2026-09-11 01:16:50.732] [info] Controller state will be published at 10 Hz. ×2 + 8.34sINFOros2_control_node[2026-09-11 01:16:50.733] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.48sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.48sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.49sWARNobjective_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. + 8.49sWARNobjective_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. + 8.49sWARNobjective_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 + 8.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.49sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.55sINFOobjective_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 + 8.55sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.57sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 8.57sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.57sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.57sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.57sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.57sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.57sINFOobjective_server_nodehangar_sim_behaviors::HangarSimBehaviorsLoader ×2 + 8.57sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.60sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.63sINFOcomponent_container_mtLoaded robot model in 0.410109 seconds[0m ×2 + 8.63sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.63sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.65sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.65sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.65sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.65sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 8.65sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.65sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 8.66sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 8.66sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 8.70sINFOros2-21process has finished cleanly [pid 8847] ×2 + 8.72sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.72sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.72sINFOplatform_velocity_controllerconfigure successful + 8.72sINFOros2_control_nodeconfigure successful[0m ×6 + 8.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.73sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.73sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.73sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965941 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965941 ms (missed cycles : 2).[0m ×2 + 9.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.02sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 9.02sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 9.08sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.09sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.09sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.09sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 9.09sINFOros2-16process has finished cleanly [pid 8834] ×2 + 9.12sWARNplanning_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. + 9.12sWARNplanning_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. + 9.12sWARNcomponent_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 + 9.12sWARNplanning_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. + 9.12sWARNcomponent_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 + 9.12sWARNplanning_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. + 9.12sWARNcomponent_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 + 9.12sWARNcomponent_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 + 9.12sWARNplanning_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. + 9.12sWARNcomponent_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 + 9.12sWARNplanning_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. + 9.12sWARNcomponent_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 + 9.12sWARNplanning_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. + 9.12sWARNcomponent_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 + 9.12sWARNplanning_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. + 9.12sWARNcomponent_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 + 9.12sWARNplanning_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. + 9.12sWARNplanning_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. + 9.12sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNcomponent_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 + 9.13sWARNplanning_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. + 9.13sWARNplanning_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. + 9.14sWARNcomponent_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 + 9.14sWARNcomponent_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 + 9.43sINFOmove_groupMoveGroup debug mode is ON + 9.43sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.43sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.45sINFOcomponent_container_mt[2026-09-11 01:16:51.838] [moveit_pro_license] [info] ×2 + 9.45sINFOcomponent_container_mt************************************************* ×4 + 9.45sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.45sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.47sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.47sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.50sINFOros2_control_node[2026-09-11 01:16:51.890] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.50sINFOros2_control_node[2026-09-11 01:16:51.892] [info] Controller state will be published at 10 Hz. ×2 + 9.50sINFOros2_control_node[2026-09-11 01:16:51.893] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.58sINFOmove_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 ****************************************************** + 9.58sINFOmove_group ×8 + 9.58sINFOmove_group****************************************************** ×4 + 9.58sINFOmove_group* MoveGroup using: ×2 + 9.58sINFOmove_group* - apply_planning_scene_service ×2 + 9.58sINFOmove_group* - clear_octomap_service ×2 + 9.58sINFOmove_group* - get_group_urdf ×2 + 9.58sINFOmove_group* - load_geometry_from_file ×2 + 9.58sINFOmove_group* - get_planning_scene_service ×2 + 9.58sINFOmove_group* - kinematics_service ×2 + 9.58sINFOmove_group* - save_geometry_to_file ×2 + 9.58sINFOmove_group* - GetPlanningGroups ×2 + 9.58sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.58sINFOmove_group[0m ×2 + 9.58sINFOmove_group[92mYou can start planning now![0m ×2 + 9.81sWARNros2_control_nodeCamera render tick took 1.16 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.82sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.82sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.82sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.82sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.84sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.84sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.85sINFOros2-20process has finished cleanly [pid 8843] ×2 + 9.85sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.85sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.89sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 9.89sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 9.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836517 ms (missed cycles : 3). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836517 ms (missed cycles : 3).[0m ×2 + 10.37sINFOros2_control_node[2026-09-11 01:16:52.756] [info] Controller state will be published at 20 Hz. ×2 + 10.37sINFOros2_control_node[2026-09-11 01:16:52.757] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.42sWARNros2_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 ×6 + 10.44sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 10.66sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.66sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.66sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 10.66sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.66sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.66sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 10.71sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.71sINFOros2-22process has finished cleanly [pid 8848] ×2 + 10.71sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.71sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.71sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.87sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789089411.046 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027043 ms (missed cycles : 3). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027043 ms (missed cycles : 3).[0m ×2 + 11.12sINFOros2_control_node[2026-09-11 01:16:53.508] [info] Controller state will be published at 20 Hz. ×2 + 11.12sINFOros2_control_node[2026-09-11 01:16:53.509] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.15sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.22sINFOamclInitializing particles from estimated pose and covariance ×2 + 11.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 ×2 + 11.44sINFOros2-23process has finished cleanly [pid 8862] ×2 + 11.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 11.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 11.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.55sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.55sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.55sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.55sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.55sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.55sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.56sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.56sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.84sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.84sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.84sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.84sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 11.84sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.84sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 11.84sINFOros2-19process has finished cleanly [pid 8841] ×2 + 11.90sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.90sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.90sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.90sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.91sINFOplatform_velocity_controller_nav2configure successful + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033760 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033760 ms (missed cycles : 2).[0m ×2 + 12.25sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 12.25sINFOcontroller_managerLoading controller 'vacuum_gripper' + 12.25sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 12.25sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 12.25sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 12.25sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 12.26sINFOros2-18process has finished cleanly [pid 8840] ×2 + 12.27sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 12.27sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 12.30sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 12.30sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 12.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 12.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 12.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 12.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 12.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 12.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 12.32sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 12.32sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 12.66sINFOros2-17process has finished cleanly [pid 8839] ×2 + 12.66sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.66sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.66sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.66sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.66sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 12.66sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 12.71sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.71sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.71sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.71sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.72sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.72sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.72sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.72sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 13.06sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 13.06sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 13.06sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 13.06sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 13.07sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 13.07sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 13.07sINFOros2-14process has finished cleanly [pid 8832] ×2 + 13.11sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 13.11sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 13.11sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 13.11sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 13.11sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 13.11sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 13.12sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 13.12sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 13.13sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 13.13sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 13.14sINFOlocal_costmap.local_costmapstart + 13.25sWARNcontroller_serverParameter controller_server.verbose not found + 13.25sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544353 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544353 ms (missed cycles : 3).[0m ×2 + 13.35sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.35sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.36sINFOsmoother_serverActivating + 13.36sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c + 13.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m3q4mgvw --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_ws9okk45 --params-file /tmp/launch_params_a76oqm8c [0m ×2 + 13.45sINFOros2-15process has finished cleanly [pid 8833] ×2 + 13.46sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.46sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.46sINFOplanner_serverActivating + 13.46sINFOglobal_costmap.global_costmapActivating + 13.46sINFOglobal_costmap.global_costmapChecking transform + 13.46sINFOglobal_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 + 13.49sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.49sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.49sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.49sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.50sINFOforce_torque_sensor_broadcasterconfigure successful + 13.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.70sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789089415.202 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.81sINFOros2-13process has finished cleanly [pid 8831] ×2 + 13.82sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789089414.620 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 14.00sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 4.948ms + 14.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 14.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.07sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 14.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 14.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 14.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 14.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 14.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 14.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034349 ms (missed cycles : 4). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034349 ms (missed cycles : 4).[0m ×2 + 14.46sINFOglobal_costmap.global_costmapstart + 15.08sWARNros2_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 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887109 ms (missed cycles : 3). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887109 ms (missed cycles : 3).[0m ×2 + 15.52sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.52sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.62sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.62sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.62sINFObehavior_serverActivating + 15.62sINFObehavior_serverActivating spin + 15.62sINFObehavior_serverActivating backup + 15.62sINFObehavior_serverActivating drive_on_heading + 15.62sINFObehavior_serverActivating assisted_teleop + 15.62sINFObehavior_serverActivating wait + 15.62sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.72sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.72sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.73sINFObt_navigatorActivating + 15.78sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.89sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.89sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.89sINFOwaypoint_followerActivating + 15.89sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.99sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.99sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.99sINFOvelocity_smootherActivating + 15.99sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.09sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.09sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 17.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 19.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.17sINFOobjective_server_nodecaller: ×10 + 19.17sINFOobjective_server_nodetype: 0 ×10 + 19.17sINFOobjective_server_nodename: "" ×10 + 19.17sINFOobjective_server_nodeinstance_id: "" ×10 + 19.17sINFOobjective_server_node ×10 + 19.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.21sINFOmove_groupClearing octomap...[0m ×2 + 19.21sINFOmove_groupOctomap cleared.[0m ×2 + 19.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 19.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 20.33sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 21.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.16sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 21.16sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 21.16sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 21.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 21.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 21.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.4s	3 errors · 283 warnings · 255 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.981ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539194 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539194 ms (missed cycles : 3).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.292ms + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.145ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616534 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616534 ms (missed cycles : 3).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.161ms + 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 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 2.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418195 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418195 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 3689 particles 723 points - 6.826ms + 2.96sINFOobjective_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 + 2.96sINFOjoint_trajectory_controllerGot request to cancel goal + 2.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.96sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_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: 1789089633.47479582 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×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 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041470 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041470 ms (missed cycles : 2).[0m ×2 + 3.48sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 6.700ms + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×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 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.76) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-1.38, 2.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789089634.06217527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.772ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899727 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899727 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998675 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998675 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.25sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.25sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152568 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152568 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711652 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711652 ms (missed cycles : 3).[0m ×2 + 7.54sWARNros2_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 + 7.56sWARNros2_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 ×4 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731491 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731491 ms (missed cycles : 2).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.690ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110514 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110514 ms (missed cycles : 2).[0m ×2 + 9.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.215ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678201 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678201 ms (missed cycles : 3).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 4497 particles 723 points - 7.930ms + 11.60sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 6.031ms + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420240 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420240 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 3.836ms + 12.74sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.128ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261369 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261369 ms (missed cycles : 3).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481825 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481825 ms (missed cycles : 3).[0m ×2 + 14.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671880 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671880 ms (missed cycles : 2).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002707 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002707 ms (missed cycles : 3).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 17.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925428 ms (missed cycles : 3). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925428 ms (missed cycles : 3).[0m ×2 + 17.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295724 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295724 ms (missed cycles : 2).[0m ×2 + 18.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043907 ms (missed cycles : 3). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043907 ms (missed cycles : 3).[0m ×2 + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845251 ms (missed cycles : 3). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845251 ms (missed cycles : 3).[0m ×2 + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.025598 ms (missed cycles : 7). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.025598 ms (missed cycles : 7).[0m ×2 + 21.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 21.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684086 ms (missed cycles : 2). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684086 ms (missed cycles : 2).[0m ×2 + 22.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 23.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575008 ms (missed cycles : 2). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575008 ms (missed cycles : 2).[0m ×2 + 23.76sWARNros2_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 + 23.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×4 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.827ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.942ms + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331958 ms (missed cycles : 5). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331958 ms (missed cycles : 5).[0m ×2 + 25.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.498ms + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980319 ms (missed cycles : 3). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980319 ms (missed cycles : 3).[0m ×2 + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052656 ms (missed cycles : 2). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052656 ms (missed cycles : 2).[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.040ms + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms ×2 + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.164291 ms (missed cycles : 5). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.164291 ms (missed cycles : 5).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.031ms + 28.91sWARNros2_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 + 28.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956572 ms (missed cycles : 4). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956572 ms (missed cycles : 4).[0m ×2 + 29.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755305 ms (missed cycles : 3). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755305 ms (missed cycles : 3).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111496 ms (missed cycles : 2). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111496 ms (missed cycles : 2).[0m ×2 + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.657ms + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.978ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388553 ms (missed cycles : 4). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388553 ms (missed cycles : 4).[0m ×2 + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214557 ms (missed cycles : 2). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214557 ms (missed cycles : 2).[0m ×2 + 33.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 34.10sWARNros2_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 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087124 ms (missed cycles : 2). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087124 ms (missed cycles : 2).[0m ×2 + 34.62sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.62sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 34.96sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266269 ms (missed cycles : 2). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266269 ms (missed cycles : 2).[0m ×2 + 35.92sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083950 ms (missed cycles : 5). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083950 ms (missed cycles : 5).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928054 ms (missed cycles : 3). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928054 ms (missed cycles : 3).[0m ×2 + 38.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 38.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060663 ms (missed cycles : 4). + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060663 ms (missed cycles : 4).[0m ×2 + 39.21sWARNros2_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 + 39.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 39.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 39.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms ×2 + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285549 ms (missed cycles : 2). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285549 ms (missed cycles : 2).[0m ×2 + 40.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044452 ms (missed cycles : 5). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044452 ms (missed cycles : 5).[0m ×2 + 41.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464685 ms (missed cycles : 3). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464685 ms (missed cycles : 3).[0m ×2 + 42.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521493 ms (missed cycles : 3). + 42.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521493 ms (missed cycles : 3).[0m ×2 + 43.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906266 ms (missed cycles : 2). + 43.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906266 ms (missed cycles : 2).[0m ×2 + 44.79sWARNros2_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 ×6 + 44.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 44.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426235 ms (missed cycles : 3). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426235 ms (missed cycles : 3).[0m ×2 + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293358 ms (missed cycles : 4). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293358 ms (missed cycles : 4).[0m ×2 + 46.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 47.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484013 ms (missed cycles : 4). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484013 ms (missed cycles : 4).[0m ×2 + 47.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666180 ms (missed cycles : 3). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666180 ms (missed cycles : 3).[0m ×2 + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 49.38sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 49.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677277 ms (missed cycles : 2). + 49.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677277 ms (missed cycles : 2).[0m ×2 + 50.42sWARNros2_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 + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036877 ms (missed cycles : 3). + 50.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036877 ms (missed cycles : 3).[0m ×2 + 51.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769975 ms (missed cycles : 4). + 51.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769975 ms (missed cycles : 4).[0m ×2 + 52.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941618 ms (missed cycles : 4). + 52.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941618 ms (missed cycles : 4).[0m ×2 + 53.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986335 ms (missed cycles : 3). + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986335 ms (missed cycles : 3).[0m ×2 + 54.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024068 ms (missed cycles : 2). + 54.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024068 ms (missed cycles : 2).[0m ×2 + 55.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451870 ms (missed cycles : 4). + 55.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451870 ms (missed cycles : 4).[0m ×2 + 57.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812660 ms (missed cycles : 5). + 57.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812660 ms (missed cycles : 5).[0m ×2 + 57.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 58.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174900 ms (missed cycles : 2). + 58.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174900 ms (missed cycles : 2).[0m ×2 + 59.06sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 59.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547705 ms (missed cycles : 3). + 59.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547705 ms (missed cycles : 3).[0m ×2 + 60.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.163818 ms (missed cycles : 4). + 60.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.163818 ms (missed cycles : 4).[0m ×2 + 61.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422884 ms (missed cycles : 3). + 61.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422884 ms (missed cycles : 3).[0m ×2 + 62.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386454 ms (missed cycles : 3). + 62.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386454 ms (missed cycles : 3).[0m ×2 + 63.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 63.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540901 ms (missed cycles : 4). + 63.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540901 ms (missed cycles : 4).[0m ×2 + 64.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350746 ms (missed cycles : 3). + 64.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350746 ms (missed cycles : 3).[0m ×2 + 65.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 65.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503993 ms (missed cycles : 3). + 65.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503993 ms (missed cycles : 3).[0m ×2 + 66.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 66.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061844 ms (missed cycles : 2). + 66.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061844 ms (missed cycles : 2).[0m ×2 + 66.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 67.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233461 ms (missed cycles : 3). + 67.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233461 ms (missed cycles : 3).[0m ×2 + 68.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 68.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789089698.86236668 seconds ×3 + 68.43sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.43sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.83sWARNlocal_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 + 68.83sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878940 ms (missed cycles : 3). + 68.90sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878940 ms (missed cycles : 3).[0m ×2 + 68.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789089699.44951510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.579ms + 70.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498020 ms (missed cycles : 3). + 70.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498020 ms (missed cycles : 3).[0m ×2 + 71.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961481 ms (missed cycles : 2). + 71.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961481 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	252 warnings · 225 info
+ 0.00sINFOamclNo-motion update requested ×16 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.87sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 3.15sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-1.232, 0.076) yaw -1.8 deg: 31.8% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.354 m. ×3 + 3.15sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.15sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789089710.07587051 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789089710.66354275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3).[0m ×2 + 6.09sWARNros2_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 + 6.11sWARNros2_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 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.45sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825306 ms (missed cycles : 4). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825306 ms (missed cycles : 4).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124808 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124808 ms (missed cycles : 2).[0m ×2 + 9.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.271ms + 9.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115244 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115244 ms (missed cycles : 2).[0m ×2 + 10.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668926 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668926 ms (missed cycles : 2).[0m ×2 + 10.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 11.30sWARNros2_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 + 11.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 11.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983061 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983061 ms (missed cycles : 2).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 12.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737077 ms (missed cycles : 4). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737077 ms (missed cycles : 4).[0m ×2 + 12.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 13.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209331 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209331 ms (missed cycles : 2).[0m ×2 + 14.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 14.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566344 ms (missed cycles : 4). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566344 ms (missed cycles : 4).[0m ×2 + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120687 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120687 ms (missed cycles : 2).[0m ×2 + 16.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 16.57sWARNros2_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 + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261963 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261963 ms (missed cycles : 2).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811204 ms (missed cycles : 3). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811204 ms (missed cycles : 3).[0m ×2 + 18.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 19.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806350 ms (missed cycles : 2). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806350 ms (missed cycles : 2).[0m ×2 + 19.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407835 ms (missed cycles : 3). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407835 ms (missed cycles : 3).[0m ×2 + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428501 ms (missed cycles : 3). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428501 ms (missed cycles : 3).[0m ×2 + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 22.17sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 22.19sWARNros2_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 ×4 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541261 ms (missed cycles : 3). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541261 ms (missed cycles : 3).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.289ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366886 ms (missed cycles : 3). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366886 ms (missed cycles : 3).[0m ×2 + 24.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 24.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637358 ms (missed cycles : 4). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637358 ms (missed cycles : 4).[0m ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075055 ms (missed cycles : 2). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075055 ms (missed cycles : 2).[0m ×2 + 25.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161161 ms (missed cycles : 4). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161161 ms (missed cycles : 4).[0m ×2 + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.884ms + 27.71sWARNros2_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 + 27.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×6 + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045302 ms (missed cycles : 2). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045302 ms (missed cycles : 2).[0m ×2 + 28.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955221 ms (missed cycles : 3). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955221 ms (missed cycles : 3).[0m ×2 + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 29.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567954 ms (missed cycles : 4). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567954 ms (missed cycles : 4).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256502 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256502 ms (missed cycles : 2).[0m ×2 + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757517 ms (missed cycles : 2). + 32.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757517 ms (missed cycles : 2).[0m ×2 + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms + 32.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657420 ms (missed cycles : 2). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657420 ms (missed cycles : 2).[0m ×2 + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208239 ms (missed cycles : 3). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208239 ms (missed cycles : 3).[0m ×2 + 34.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.025ms + 34.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 34.83sINFOros2_control_nodeGoal reached, success![0m ×4 + 34.87sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590081 ms (missed cycles : 4). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590081 ms (missed cycles : 4).[0m ×2 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203586 ms (missed cycles : 3). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203586 ms (missed cycles : 3).[0m ×2 + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656277 ms (missed cycles : 2). + 37.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656277 ms (missed cycles : 2).[0m ×2 + 38.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599451 ms (missed cycles : 3). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599451 ms (missed cycles : 3).[0m ×2 + 39.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626881 ms (missed cycles : 3). + 39.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626881 ms (missed cycles : 3).[0m ×2 + 40.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881883 ms (missed cycles : 4). + 40.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881883 ms (missed cycles : 4).[0m ×2 + 41.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 42.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560580 ms (missed cycles : 3). + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560580 ms (missed cycles : 3).[0m ×2 + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135466 ms (missed cycles : 3). + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135466 ms (missed cycles : 3).[0m ×2 + 44.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736600 ms (missed cycles : 4). + 44.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736600 ms (missed cycles : 4).[0m ×2 + 45.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757477 ms (missed cycles : 3). + 45.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757477 ms (missed cycles : 3).[0m ×2 + 46.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867120 ms (missed cycles : 3). + 46.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867120 ms (missed cycles : 3).[0m ×2 + 47.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344091 ms (missed cycles : 2). + 47.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344091 ms (missed cycles : 2).[0m ×2 + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961593 ms (missed cycles : 3). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961593 ms (missed cycles : 3).[0m ×2 + 49.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.946ms + 49.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193510 ms (missed cycles : 2). + 49.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193510 ms (missed cycles : 2).[0m ×2 + 50.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331419 ms (missed cycles : 2). + 50.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331419 ms (missed cycles : 2).[0m ×2 + 51.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870126 ms (missed cycles : 3). + 51.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870126 ms (missed cycles : 3).[0m ×2 + 52.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 52.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207217 ms (missed cycles : 2). + 52.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207217 ms (missed cycles : 2).[0m ×2 + 53.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710798 ms (missed cycles : 4). + 53.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710798 ms (missed cycles : 4).[0m ×2 + 54.14sWARNros2_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 + 54.17sWARNros2_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 + 54.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790995 ms (missed cycles : 2). + 54.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790995 ms (missed cycles : 2).[0m ×2 + 56.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827692 ms (missed cycles : 3). + 56.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827692 ms (missed cycles : 3).[0m ×2 + 56.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 57.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2). + 57.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2).[0m ×2 + 58.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827325 ms (missed cycles : 4). + 58.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827325 ms (missed cycles : 4).[0m ×2 + 59.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710431 ms (missed cycles : 3). + 59.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710431 ms (missed cycles : 3).[0m ×2 + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219835 ms (missed cycles : 3). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219835 ms (missed cycles : 3).[0m ×2 + 60.47sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789089767.39368176 seconds ×3 + 60.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 60.61sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.61sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.01sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.06sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789089767.99048018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.11sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 11.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 61.11sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 11.43) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 61.12sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.539ms + 61.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309572 ms (missed cycles : 2). + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309572 ms (missed cycles : 2).[0m ×2 + 61.43sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 61.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.725ms + 61.85sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988828 ms (missed cycles : 2). + 62.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988828 ms (missed cycles : 2).[0m ×2 + 63.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288109 ms (missed cycles : 2). + 63.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288109 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	244 warnings · 206 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995846 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995846 ms (missed cycles : 2).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806998 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806998 ms (missed cycles : 2).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 2.49sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.49sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789089473.30554104 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.89sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227746 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227746 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789089473.89973903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sWARNros2_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 + 3.49sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.907ms + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800620 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800620 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247660 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247660 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847885 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847885 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716444 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716444 ms (missed cycles : 2).[0m ×2 + 8.02sWARNros2_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 + 8.06sINFOamclParticle filter update iteration stats: 1967 particles 723 points - 4.226ms + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894062 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894062 ms (missed cycles : 3).[0m ×2 + 8.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 9.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.14sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 3.057ms + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178139 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178139 ms (missed cycles : 2).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 2.785ms + 10.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.494ms + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254169 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254169 ms (missed cycles : 2).[0m ×2 + 10.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 11.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064008 ms (missed cycles : 4). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064008 ms (missed cycles : 4).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627153 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627153 ms (missed cycles : 2).[0m ×2 + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 13.13sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438838 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438838 ms (missed cycles : 3).[0m ×2 + 13.75sWARNros2_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 + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 14.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.027ms + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450180 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450180 ms (missed cycles : 2).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 15.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231661 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231661 ms (missed cycles : 2).[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439506 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439506 ms (missed cycles : 2).[0m ×2 + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 17.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063913 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063913 ms (missed cycles : 2).[0m ×2 + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 18.52sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 18.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917393 ms (missed cycles : 2). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917393 ms (missed cycles : 2).[0m ×2 + 19.13sWARNros2_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 + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175745 ms (missed cycles : 2). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175745 ms (missed cycles : 2).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121481 ms (missed cycles : 2). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121481 ms (missed cycles : 2).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.279ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613826 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613826 ms (missed cycles : 2).[0m ×2 + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644110 ms (missed cycles : 5). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644110 ms (missed cycles : 5).[0m ×2 + 23.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.300ms + 23.99sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542575 ms (missed cycles : 4). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542575 ms (missed cycles : 4).[0m ×2 + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766129 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766129 ms (missed cycles : 2).[0m ×2 + 25.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 26.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 26.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414031 ms (missed cycles : 2). + 26.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414031 ms (missed cycles : 2).[0m ×2 + 27.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495168 ms (missed cycles : 4). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495168 ms (missed cycles : 4).[0m ×2 + 28.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758133 ms (missed cycles : 3). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758133 ms (missed cycles : 3).[0m ×2 + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms ×2 + 29.47sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 29.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510049 ms (missed cycles : 3). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510049 ms (missed cycles : 3).[0m ×2 + 30.12sWARNros2_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 + 30.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597174 ms (missed cycles : 4). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597174 ms (missed cycles : 4).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.682ms + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359252 ms (missed cycles : 3). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359252 ms (missed cycles : 3).[0m ×2 + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958200 ms (missed cycles : 2). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958200 ms (missed cycles : 2).[0m ×2 + 33.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734924 ms (missed cycles : 3). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734924 ms (missed cycles : 3).[0m ×2 + 34.14sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091721 ms (missed cycles : 5). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091721 ms (missed cycles : 5).[0m ×2 + 35.14sWARNros2_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 + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182691 ms (missed cycles : 2). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182691 ms (missed cycles : 2).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979675 ms (missed cycles : 2). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979675 ms (missed cycles : 2).[0m ×2 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264280 ms (missed cycles : 3). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264280 ms (missed cycles : 3).[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208617 ms (missed cycles : 5). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208617 ms (missed cycles : 5).[0m ×2 + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688173 ms (missed cycles : 3). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688173 ms (missed cycles : 3).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038777 ms (missed cycles : 2). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038777 ms (missed cycles : 2).[0m ×2 + 42.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695835 ms (missed cycles : 3). + 42.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695835 ms (missed cycles : 3).[0m ×2 + 43.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426890 ms (missed cycles : 3). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426890 ms (missed cycles : 3).[0m ×2 + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397674 ms (missed cycles : 3). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397674 ms (missed cycles : 3).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744272 ms (missed cycles : 5). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744272 ms (missed cycles : 5).[0m ×2 + 46.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×4 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572787 ms (missed cycles : 4). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572787 ms (missed cycles : 4).[0m ×2 + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558107 ms (missed cycles : 4). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558107 ms (missed cycles : 4).[0m ×2 + 48.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 49.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499328 ms (missed cycles : 4). + 49.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499328 ms (missed cycles : 4).[0m ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069411 ms (missed cycles : 2). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069411 ms (missed cycles : 2).[0m ×2 + 50.72sWARNros2_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 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576510 ms (missed cycles : 3). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576510 ms (missed cycles : 3).[0m ×2 + 51.36sWARNros2_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 + 52.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 52.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588463 ms (missed cycles : 3). + 52.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588463 ms (missed cycles : 3).[0m ×2 + 53.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519417 ms (missed cycles : 3). + 53.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519417 ms (missed cycles : 3).[0m ×2 + 54.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788746 ms (missed cycles : 3). + 54.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788746 ms (missed cycles : 3).[0m ×2 + 55.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 55.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054621 ms (missed cycles : 2). + 55.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054621 ms (missed cycles : 2).[0m ×2 + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3). + 56.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3).[0m ×2 + 57.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3). + 57.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3).[0m ×2 + 58.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2). + 58.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2).[0m ×2 + 59.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3). + 59.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3).[0m ×2 + 59.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789089530.51988482 seconds ×3 + 59.86sWARNlocal_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 + 59.86sWARNlocal_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 + 60.05sWARNlocal_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 + 60.05sWARNlocal_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 + 60.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 60.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789089531.11000967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.486ms + 60.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3). + 60.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3).[0m ×2 + 60.71sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 61.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2). + 61.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2).[0m ×2 + 62.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 62.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3). + 62.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.9s	247 warnings · 210 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565821 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565821 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993319 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993319 ms (missed cycles : 3).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298441 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298441 ms (missed cycles : 3).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 2.97sWARNros2_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 + 3.00sWARNros2_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 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923693 ms (missed cycles : 3). + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789089569.68728948 seconds ×3 + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923693 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) 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 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789089570.27497029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.341ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326346 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326346 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377953 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377953 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684795 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684795 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075833 ms (missed cycles : 5). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075833 ms (missed cycles : 5).[0m ×2 + 8.20sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.22sWARNros2_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 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085662 ms (missed cycles : 4). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085662 ms (missed cycles : 4).[0m ×2 + 8.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.236ms + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643724 ms (missed cycles : 4). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643724 ms (missed cycles : 4).[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.883ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.537ms + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160606 ms (missed cycles : 4). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160606 ms (missed cycles : 4).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.505ms + 11.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.055ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124072 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124072 ms (missed cycles : 2).[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.205ms + 12.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.283ms + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554220 ms (missed cycles : 3). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554220 ms (missed cycles : 3).[0m ×2 + 13.52sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 13.55sWARNros2_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 + 13.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.382ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568261 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568261 ms (missed cycles : 2).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.178ms + 14.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.699ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976021 ms (missed cycles : 5). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976021 ms (missed cycles : 5).[0m ×2 + 15.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.985ms + 15.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.438ms + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741512 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741512 ms (missed cycles : 3).[0m ×2 + 16.52sINFOamclParticle filter update iteration stats: 3721 particles 723 points - 12.072ms + 17.11sINFOamclParticle filter update iteration stats: 2596 particles 723 points - 6.617ms + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584279 ms (missed cycles : 3). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584279 ms (missed cycles : 3).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 4.073ms + 18.28sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 3.070ms + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632135 ms (missed cycles : 3). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632135 ms (missed cycles : 3).[0m ×2 + 18.88sWARNros2_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 + 18.90sWARNros2_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 + 18.91sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.156ms + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.484ms + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744277 ms (missed cycles : 3). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744277 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181277 ms (missed cycles : 2). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181277 ms (missed cycles : 2).[0m ×2 + 20.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.152ms + 21.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167441 ms (missed cycles : 3). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167441 ms (missed cycles : 3).[0m ×2 + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 22.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668885 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668885 ms (missed cycles : 2).[0m ×2 + 23.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 23.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823304 ms (missed cycles : 3). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823304 ms (missed cycles : 3).[0m ×2 + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444901 ms (missed cycles : 2). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444901 ms (missed cycles : 2).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788224 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788224 ms (missed cycles : 2).[0m ×2 + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758219 ms (missed cycles : 4). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758219 ms (missed cycles : 4).[0m ×2 + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994574 ms (missed cycles : 4). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994574 ms (missed cycles : 4).[0m ×2 + 28.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301302 ms (missed cycles : 3). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301302 ms (missed cycles : 3).[0m ×2 + 29.89sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 29.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×4 + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312053 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312053 ms (missed cycles : 2).[0m ×2 + 30.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445659 ms (missed cycles : 2). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445659 ms (missed cycles : 2).[0m ×2 + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.836ms + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms ×2 + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658595 ms (missed cycles : 4). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658595 ms (missed cycles : 4).[0m ×2 + 33.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 33.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344791 ms (missed cycles : 2). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344791 ms (missed cycles : 2).[0m ×2 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314000 ms (missed cycles : 2). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314000 ms (missed cycles : 2).[0m ×2 + 34.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892895 ms (missed cycles : 3). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892895 ms (missed cycles : 3).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866377 ms (missed cycles : 3). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866377 ms (missed cycles : 3).[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166777 ms (missed cycles : 3). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166777 ms (missed cycles : 3).[0m ×2 + 38.47sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714188 ms (missed cycles : 2). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714188 ms (missed cycles : 2).[0m ×2 + 39.47sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208523 ms (missed cycles : 3). + 39.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208523 ms (missed cycles : 3).[0m ×2 + 40.73sWARNros2_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 + 40.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 40.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161365 ms (missed cycles : 4). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161365 ms (missed cycles : 4).[0m ×2 + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716114 ms (missed cycles : 4). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716114 ms (missed cycles : 4).[0m ×2 + 41.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.427ms + 42.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156758 ms (missed cycles : 2). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156758 ms (missed cycles : 2).[0m ×2 + 43.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 43.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883509 ms (missed cycles : 4). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883509 ms (missed cycles : 4).[0m ×2 + 44.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.936ms + 45.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775939 ms (missed cycles : 3). + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775939 ms (missed cycles : 3).[0m ×2 + 45.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689815 ms (missed cycles : 2). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689815 ms (missed cycles : 2).[0m ×2 + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745940 ms (missed cycles : 5). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745940 ms (missed cycles : 5).[0m ×2 + 47.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815155 ms (missed cycles : 3). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815155 ms (missed cycles : 3).[0m ×2 + 49.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.337ms + 49.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661124 ms (missed cycles : 3). + 49.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661124 ms (missed cycles : 3).[0m ×2 + 49.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037553 ms (missed cycles : 3). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037553 ms (missed cycles : 3).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 51.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 51.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845472 ms (missed cycles : 2). + 51.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845472 ms (missed cycles : 2).[0m ×2 + 52.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365588 ms (missed cycles : 3). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365588 ms (missed cycles : 3).[0m ×2 + 53.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994625 ms (missed cycles : 2). + 53.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994625 ms (missed cycles : 2).[0m ×2 + 54.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 54.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213663 ms (missed cycles : 5). + 54.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213663 ms (missed cycles : 5).[0m ×2 + 55.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 55.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775518 ms (missed cycles : 3). + 55.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775518 ms (missed cycles : 3).[0m ×2 + 56.14sWARNros2_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 + 56.15sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789089622.60511971 seconds ×3 + 56.18sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 56.18sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 56.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 56.68sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.73sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789089623.18675923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.986ms + 56.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302406 ms (missed cycles : 4). + 56.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302406 ms (missed cycles : 4).[0m ×2 + 57.28sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 57.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.368ms + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292530 ms (missed cycles : 2). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292530 ms (missed cycles : 2).[0m ×2 + 58.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164051 ms (missed cycles : 2). + 58.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164051 ms (missed cycles : 2).[0m ×2 + 59.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143101 ms (missed cycles : 5). + 59.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143101 ms (missed cycles : 5).[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 6.554725 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 0.15sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.15sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.17sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.17sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.69sINFOobjective_server_nodecaller: ×12 + 0.69sINFOobjective_server_nodetype: 0 ×12 + 0.69sINFOobjective_server_nodename: "" ×12 + 0.69sINFOobjective_server_nodeinstance_id: "" ×12 + 0.69sINFOobjective_server_node ×12 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.73sINFOmove_groupClearing octomap...[0m ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 1.85sWARNros2_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 ×12 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_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 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_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 + 2.68sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.65sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.65sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985985 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985985 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913182 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913182 ms (missed cycles : 2).[0m ×2 + 7.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×6 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106743 ms (missed cycles : 4). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106743 ms (missed cycles : 4).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618911 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618911 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964736 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964736 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523400 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523400 ms (missed cycles : 3).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476230 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476230 ms (missed cycles : 3).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040668 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040668 ms (missed cycles : 2).[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.353ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281694 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281694 ms (missed cycles : 2).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444677 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444677 ms (missed cycles : 2).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054209 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054209 ms (missed cycles : 2).[0m ×2 + 17.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990360 ms (missed cycles : 3). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990360 ms (missed cycles : 3).[0m ×2 + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556026 ms (missed cycles : 3). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556026 ms (missed cycles : 3).[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717155 ms (missed cycles : 2). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717155 ms (missed cycles : 2).[0m ×2 + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849139 ms (missed cycles : 2). + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849139 ms (missed cycles : 2).[0m ×2 + 22.19sWARNros2_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 ×4 + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674792 ms (missed cycles : 3). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674792 ms (missed cycles : 3).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758049 ms (missed cycles : 2). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758049 ms (missed cycles : 2).[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222889 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222889 ms (missed cycles : 2).[0m ×2 + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420731 ms (missed cycles : 3). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420731 ms (missed cycles : 3).[0m ×2 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317645 ms (missed cycles : 3). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317645 ms (missed cycles : 3).[0m ×2 + 27.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×6 + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488460 ms (missed cycles : 4). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488460 ms (missed cycles : 4).[0m ×2 + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471395 ms (missed cycles : 4). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471395 ms (missed cycles : 4).[0m ×2 + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206955 ms (missed cycles : 2). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206955 ms (missed cycles : 2).[0m ×2 + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651174 ms (missed cycles : 3). + 31.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651174 ms (missed cycles : 3).[0m ×2 + 32.40sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232399 ms (missed cycles : 4). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232399 ms (missed cycles : 4).[0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599701 ms (missed cycles : 3). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599701 ms (missed cycles : 3).[0m ×2 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168457 ms (missed cycles : 2). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168457 ms (missed cycles : 2).[0m ×2 + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243130 ms (missed cycles : 2). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243130 ms (missed cycles : 2).[0m ×2 + 37.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745995 ms (missed cycles : 3). + 37.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745995 ms (missed cycles : 3).[0m ×2 + 38.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853542 ms (missed cycles : 3). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853542 ms (missed cycles : 3).[0m ×2 + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922052 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922052 ms (missed cycles : 2).[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537329 ms (missed cycles : 3). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537329 ms (missed cycles : 3).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034222 ms (missed cycles : 3). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034222 ms (missed cycles : 3).[0m ×2 + 42.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702823 ms (missed cycles : 4). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702823 ms (missed cycles : 4).[0m ×2 + 42.54sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 42.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.877ms + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781431 ms (missed cycles : 4). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781431 ms (missed cycles : 4).[0m ×2 + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793951 ms (missed cycles : 2). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793951 ms (missed cycles : 2).[0m ×2 + 45.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095573 ms (missed cycles : 2). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095573 ms (missed cycles : 2).[0m ×2 + 46.29sINFOjoint_trajectory_controllerGoal reached, success! + 46.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789089467.18884087 seconds ×3 + 46.33sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.33sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.34sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.34sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.34sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.34sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598966 ms (missed cycles : 3). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598966 ms (missed cycles : 3).[0m ×2 + 46.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.86sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789089467.77396321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875096 ms (missed cycles : 3). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875096 ms (missed cycles : 3).[0m ×2 + 47.98sINFOobjective_server_nodeFound path in 0 iterations (2.4679e-05 s). ×2 + 48.05sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069654 ms (missed cycles : 2). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069654 ms (missed cycles : 2).[0m ×2 + 49.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2). + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2).[0m ×2 + 49.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	159 warnings · 182 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577985 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577985 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870324 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870324 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868366 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868366 ms (missed cycles : 3).[0m ×2 + 2.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.20sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789089536.94021392 seconds ×3 + 2.88sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103375 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103375 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.47sWARNros2_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 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789089538.52713203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944506 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944506 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (5.95e-07 s). ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451976 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451976 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961196 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961196 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525835 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525835 ms (missed cycles : 3).[0m ×2 + 8.02sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297855 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297855 ms (missed cycles : 2).[0m ×2 + 8.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.530ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402912 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402912 ms (missed cycles : 4).[0m ×2 + 9.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.051ms + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.890ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662240 ms (missed cycles : 4). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662240 ms (missed cycles : 4).[0m ×2 + 10.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.915ms + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.463ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725425 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725425 ms (missed cycles : 3).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.344ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.479ms + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725989 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725989 ms (missed cycles : 3).[0m ×2 + 13.17sWARNros2_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 + 13.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.929ms + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055091 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055091 ms (missed cycles : 2).[0m ×2 + 13.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.779ms + 14.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.607ms + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257375 ms (missed cycles : 2). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257375 ms (missed cycles : 2).[0m ×2 + 15.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.143ms + 15.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.869ms + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271612 ms (missed cycles : 3). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271612 ms (missed cycles : 3).[0m ×2 + 16.23sINFOamclParticle filter update iteration stats: 4911 particles 723 points - 8.297ms + 16.81sINFOamclParticle filter update iteration stats: 4104 particles 723 points - 7.575ms + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201463 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201463 ms (missed cycles : 2).[0m ×2 + 17.41sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 9.175ms + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012673 ms (missed cycles : 2). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012673 ms (missed cycles : 2).[0m ×2 + 18.01sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 3.822ms + 18.60sWARNros2_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 + 18.64sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 4.136ms + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947934 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947934 ms (missed cycles : 3).[0m ×2 + 19.23sWARNros2_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 + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 19.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.924ms + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525738 ms (missed cycles : 3). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525738 ms (missed cycles : 3).[0m ×2 + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms ×2 + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275418 ms (missed cycles : 4). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275418 ms (missed cycles : 4).[0m ×2 + 21.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919352 ms (missed cycles : 3). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919352 ms (missed cycles : 3).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 23.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045953 ms (missed cycles : 4). + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045953 ms (missed cycles : 4).[0m ×2 + 23.84sWARNros2_control_nodeCamera render tick took 0.68 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.874ms + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909377 ms (missed cycles : 5). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909377 ms (missed cycles : 5).[0m ×2 + 24.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 25.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 25.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802925 ms (missed cycles : 2). + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802925 ms (missed cycles : 2).[0m ×2 + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms ×2 + 26.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms ×2 + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985573 ms (missed cycles : 3). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985573 ms (missed cycles : 3).[0m ×2 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059129 ms (missed cycles : 2). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059129 ms (missed cycles : 2).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403747 ms (missed cycles : 4). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403747 ms (missed cycles : 4).[0m ×2 + 28.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 29.46sWARNros2_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 + 29.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.098808 ms (missed cycles : 4). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.098808 ms (missed cycles : 4).[0m ×2 + 30.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625649 ms (missed cycles : 3). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625649 ms (missed cycles : 3).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 31.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.725ms + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565821 ms (missed cycles : 2). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565821 ms (missed cycles : 2).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 32.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993319 ms (missed cycles : 3). + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993319 ms (missed cycles : 3).[0m ×2 + 33.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298441 ms (missed cycles : 3). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298441 ms (missed cycles : 3).[0m ×2 + 34.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 34.72sWARNros2_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 + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923693 ms (missed cycles : 3). + 34.95sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789089569.68728948 seconds ×3 + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923693 ms (missed cycles : 3).[0m ×2 + 35.00sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.00sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.40sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.40sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.49sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789089570.27497029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.95sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 35.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.341ms + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326346 ms (missed cycles : 2). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326346 ms (missed cycles : 2).[0m ×2 + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377953 ms (missed cycles : 3). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377953 ms (missed cycles : 3).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684795 ms (missed cycles : 3). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684795 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	17.2s	111 warnings · 242 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827325 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827325 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710431 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710431 ms (missed cycles : 3).[0m ×2 + 1.11sWARNros2_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 + 1.13sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219835 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219835 ms (missed cycles : 3).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.36sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789089767.39368176 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 2.41sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.42sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.53sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.53sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.93sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.93sINFOobjective_server_nodecaller: ×6 + 2.93sINFOobjective_server_nodetype: 0 ×6 + 2.93sINFOobjective_server_nodename: "" ×6 + 2.93sINFOobjective_server_nodeinstance_id: "" ×6 + 2.93sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789089767.99048018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 11.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 11.43) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 3.04sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.539ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309572 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309572 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.725ms + 3.78sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.80sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988828 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988828 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288109 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288109 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335589 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335589 ms (missed cycles : 2).[0m ×2 + 6.70sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168597 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168597 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213845 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213845 ms (missed cycles : 2).[0m ×2 + 9.46sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 9.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268831 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268831 ms (missed cycles : 3).[0m ×2 + 9.63sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 9.79sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 10.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.31sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699477 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699477 ms (missed cycles : 3).[0m ×2 + 10.86sINFOobjective_server_nodeFound path in 33 iterations (0.0513064 s). ×2 + 11.49sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.58sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117449 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117449 ms (missed cycles : 3).[0m ×2 + 11.80sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 12.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.60sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031005 ms (missed cycles : 5). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031005 ms (missed cycles : 5).[0m ×2 + 13.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.60sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225047 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225047 ms (missed cycles : 2).[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406975 ms (missed cycles : 3). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406975 ms (missed cycles : 3).[0m ×2 + 14.87sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.783ms + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312276 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312276 ms (missed cycles : 2).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725631 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725631 ms (missed cycles : 3).[0m ×2 + 16.86sWARNros2_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 ×4 + 16.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 16.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.415ms + 17.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.438ms + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969299 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969299 ms (missed cycles : 2).[0m ×2 + 18.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.461ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237501 ms (missed cycles : 4). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237501 ms (missed cycles : 4).[0m ×2 + 19.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.216ms + 19.60sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789089784.59787822 seconds ×3 + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961255 ms (missed cycles : 2). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961255 ms (missed cycles : 2).[0m ×2 + 20.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089785.21043396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.21sINFOmove_groupClearing octomap...[0m ×2 + 20.21sINFOmove_groupOctomap cleared.[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.649ms + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181291 ms (missed cycles : 2). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181291 ms (missed cycles : 2).[0m ×2 + 21.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089786.23056889 seconds ×3 + 21.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.77sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089786.81485391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925811 ms (missed cycles : 3). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925811 ms (missed cycles : 3).[0m ×2 + 22.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089787.37499475 seconds ×3 + 22.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119329 ms (missed cycles : 2).
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	100 errors · 41 warnings · 514 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969299 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969299 ms (missed cycles : 2).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.461ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237501 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237501 ms (missed cycles : 4).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.216ms + 1.64sINFOjoint_trajectory_controllerGoal reached, success! + 1.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789089784.59787822 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961255 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961255 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089785.21043396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.27sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.649ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181291 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089786.23056889 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089786.81485391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sWARNros2_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 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925811 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925811 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089787.37499475 seconds ×3 + 4.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119329 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119329 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116633 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116633 ms (missed cycles : 4).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473054 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473054 ms (missed cycles : 3).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361706 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361706 ms (missed cycles : 2).[0m ×2 + 9.46sWARNros2_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 + 9.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597126 ms (missed cycles : 4). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597126 ms (missed cycles : 4).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511669 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511669 ms (missed cycles : 2).[0m ×2 + 10.82sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.83sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORweb_video_auth_proxy-38process has died [pid 8934, 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 + 10.83sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.84sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORweb_bridge_auth_proxy-37process has died [pid 8931, 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 + 10.84sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.88sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.89sINFOvideo_server-36process has finished cleanly [pid 8928] ×2 + 10.89sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.90sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.90sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.91sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.92sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.93sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.94sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.95sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.96sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.97sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.98sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.99sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 11.01sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 11.01sINFOcontroller_managerShutdown request received.... + 11.01sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.01sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.01sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.01sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.01sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.01sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.01sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.01sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.01sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.01sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.01sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.01sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.01sINFOcontroller_managerShutting down the controller manager. + 11.02sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 11.03sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 11.04sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 11.04sERRORmove_group-24process has died [pid 8866, 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_wksee7nf --params-file /tmp/launch_params_84mle081 --params-file /tmp/launch_params_gytk_a3k --params-file /tmp/launch_params_1abyfesh --params-file /tmp/launch_params_jyeu_bxy --params-file /tmp/launch_params_wi5qgyrp']. ×2 + 11.05sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 11.06sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 11.15sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.16sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.17sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.18sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.18sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.18sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.18sINFOmap_serverDeactivating + 11.18sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.19sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.19sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.19sINFOcontroller_serverDeactivating + 11.19sINFOlocal_costmap.local_costmapDeactivating + 11.19sINFOvideo_server2026/09/11 01:23:13 INF shutting down gracefully ×2 + 11.19sINFOvideo_server2026/09/11 01:23:13 INF [WebRTC] closing ×2 + 11.19sINFOvideo_server2026/09/11 01:23:13 INF [RTSP] closing ×2 + 11.19sINFOvideo_server2026/09/11 01:23:13 INF waiting for running hooks ×2 + 11.19sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOmap_serverCleaning up + 11.20sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.20sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.20sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.20sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.20sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.20sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.20sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.20sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.20sERRORmove_groupStack trace (most recent call last) in thread 9535: ×2 + 11.20sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.20sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f96538eaa63, in __clone ×2 + 11.20sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f965385daa3, in ×2 + 11.20sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9653aefdb3, in ×2 + 11.20sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f9654253b34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.20sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9653e81620, in rclcpp::Rate::sleep() ×2 + 11.20sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9653dc3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.20sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9653d85087, in ×2 + 11.20sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.20sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.20sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9653abe390, in __cxa_throw ×2 + 11.20sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9653aa8a54, in std::terminate() ×2 + 11.20sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9653abe0d9, in ×2 + 11.20sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9653aa8ff4, in ×2 + 11.20sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f96537e98fe, in abort ×2 + 11.20sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f965380627d, in raise ×2 + 11.20sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f965385fb2c, in pthread_kill ×2 + 11.20sERRORmove_groupAborted (Signal sent by tkill() 8866 0) ×2 + 11.20sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.20sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.20sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.20sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.20sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.20sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.20sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.20sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 11.20sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.21sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.21sINFOodom_qos_relay.pymain() ×2 + 11.21sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.21sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.21sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.21sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.21sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.21sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.21sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.21sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.21sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.21sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.21sINFOcontroller_serverCleaning up + 11.21sINFOlocal_costmap.local_costmapCleaning up + 11.21sERRORamclThe bond connection to the lifecycle manager has been broken + 11.22sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.22sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.23sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.25sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.25sINFOsmoother_serverDeactivating + 11.25sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.26sINFOsmoother_serverCleaning up + 11.28sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.28sINFOplanner_serverDeactivating + 11.28sINFOglobal_costmap.global_costmapDeactivating + 11.35sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.35sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.35sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.35sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.35sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.35sINFOvelocity_smootherDeactivating + 11.35sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.46sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.46sINFOwaypoint_followerDeactivating + 11.46sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.57sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.57sINFObt_navigatorDeactivating + 11.57sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.69sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.69sINFObehavior_serverDeactivating + 11.69sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.80sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.80sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.80sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.80sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.80sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.80sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.80sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.81sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.81sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.81sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.81sINFOvelocity_smootherCleaning up + 11.81sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.81sINFOwaypoint_followerCleaning up + 11.84sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.84sINFObt_navigatorCleaning up + 11.92sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.92sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.93sINFOplanner_serverCleaning up + 11.94sINFOtf2_web_republisher_node-35process has finished cleanly [pid 8927] ×2 + 11.94sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.94sINFOglobal_costmap.global_costmapCleaning up + 11.96sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.96sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.99sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.99sINFObehavior_serverCleaning up + 11.99sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.99sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.99sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.99sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.01sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 8918] ×2 + 12.02sINFObt_navigatorCompleted Cleaning up + 12.02sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.03sINFOmove_joint_resampler_node-27process has finished cleanly [pid 8913] ×2 + 12.04sINFOui_teleop_bridge-33process has finished cleanly [pid 8925] ×2 + 12.04sINFOexecute_objective_bridge-32process has finished cleanly [pid 8924] ×2 + 12.05sINFOcomponent_container_mt-31process has finished cleanly [pid 8923] ×2 + 12.06sINFOparameter_manager_node-25process has finished cleanly [pid 8911] ×2 + 12.07sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 8829] ×2 + 12.08sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.08sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.08sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.08sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.08sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.08sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.08sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.08sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.08sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8828] ×2 + 12.08sINFOwaypoint_manager_node-26process has finished cleanly [pid 8912] ×2 + 12.09sINFOstatic_transform_publisher-9process has finished cleanly [pid 8746] ×2 + 12.10sINFOstatic_transform_publisher-8process has finished cleanly [pid 8745] ×2 + 12.10sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.10sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 12.10sINFOlidar_flattener.pymain() ×2 + 12.10sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 12.10sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.10sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.10sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.10sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.10sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.10sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.10sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.10sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.10sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.11sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.11sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.11sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.11sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.11sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.13sINFOobjective_server_node[2026-09-11 01:23:15.073] [moveit_pro_license] [critical] ×2 + 12.13sINFOobjective_server_node************************************************* ×4 + 12.13sINFOobjective_server_node* MoveIt Pro License ×2 + 12.13sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.15sERRORlidar_flattener.py-7process has died [pid 8744, 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_bmof_250']. ×2 + 12.21sINFOobjective_server_node_main-29process has finished cleanly [pid 8919] ×2 + 12.21sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.21sINFOstatic_transform_publisher-4process has finished cleanly [pid 8741] ×2 + 12.22sINFOstatic_transform_publisher-3process has finished cleanly [pid 8740] ×2 + 12.25sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 8743] ×2 + 12.26sERRORodom_qos_relay.py-5process has died [pid 8742, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.35sERRORcomponent_container_isolated-1process has died [pid 8738, 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_gw1gjhfe --params-file /tmp/launch_params_34w4vysx -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.53sERRORcomponent_container_isolated-2process has died [pid 8739, 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_gw1gjhfe --params-file /tmp/launch_params__iar68rf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.15sINFOcomponent_container_mt-30process has finished cleanly [pid 8922] ×2 + 13.74sINFOros2_control_node-12process has finished cleanly [pid 8830] ×2 + 13.89sINFOweb_bridge-34process has finished cleanly [pid 8926] ×2 + 13.89sINFOlaunchprocess[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 · 85 warnings · 155 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994625 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994625 ms (missed cycles : 2).[0m ×2 + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213663 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213663 ms (missed cycles : 5).[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775518 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775518 ms (missed cycles : 3).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sWARNros2_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 + 2.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789089622.60511971 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.20sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.20sINFOobjective_server_nodecaller: ×4 + 3.20sINFOobjective_server_nodetype: 0 ×4 + 3.20sINFOobjective_server_nodename: "" ×4 + 3.20sINFOobjective_server_nodeinstance_id: "" ×4 + 3.20sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789089623.18675923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.986ms + 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 5.302406 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302406 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.368ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292530 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292530 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164051 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164051 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143101 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143101 ms (missed cycles : 5).[0m ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762818 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762818 ms (missed cycles : 2).[0m ×2 + 7.67sWARNros2_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 + 7.69sWARNros2_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 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143432 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143432 ms (missed cycles : 2).[0m ×2 + 8.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.855ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613485 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613485 ms (missed cycles : 3).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.383ms + 10.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.981ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539194 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539194 ms (missed cycles : 3).[0m ×2 + 11.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.292ms + 11.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.145ms + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616534 ms (missed cycles : 3). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616534 ms (missed cycles : 3).[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.161ms + 12.81sWARNros2_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 + 12.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 12.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418195 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418195 ms (missed cycles : 3).[0m ×2 + 13.44sINFOamclParticle filter update iteration stats: 3689 particles 723 points - 6.826ms + 13.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.52sINFOjoint_trajectory_controllerGot request to cancel goal + 13.52sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.52sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.52sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.53sERRORobjective_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: 1789089633.47479582 seconds ×3 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041470 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041470 ms (missed cycles : 2).[0m ×2 + 14.04sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 6.700ms + 14.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.09sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.76) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.09sWARNlocal_costmap.local_costmapSensor origin at (-1.38, 2.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789089634.06217527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.51sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 14.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.772ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899727 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899727 ms (missed cycles : 3).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998675 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998675 ms (missed cycles : 2).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152568 ms (missed cycles : 3). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152568 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	68 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789089530.51988482 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.30sWARNlocal_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 + 3.30sWARNlocal_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 + 3.50sWARNlocal_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 + 3.50sWARNlocal_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 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789089531.11000967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.486ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577985 ms (missed cycles : 5). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577985 ms (missed cycles : 5).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870324 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870324 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868366 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868366 ms (missed cycles : 3).[0m ×2 + 9.60sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789089536.94021392 seconds ×3 + 10.28sWARNros2_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 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103375 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103375 ms (missed cycles : 2).[0m ×2 + 10.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 11.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.15sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789089538.52713203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944506 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944506 ms (missed cycles : 2).[0m ×2 + 11.59sINFOobjective_server_nodeFound path in 0 iterations (5.95e-07 s). ×2 + 12.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451976 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451976 ms (missed cycles : 3).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961196 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961196 ms (missed cycles : 2).[0m ×2 + 13.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	68 warnings · 223 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503993 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503993 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061844 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061844 ms (missed cycles : 2).[0m ×2 + 1.79sWARNros2_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 ×2 + 1.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233461 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233461 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.22sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.24sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789089698.86236668 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.72sWARNlocal_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 + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878940 ms (missed cycles : 3). + 3.79sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878940 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789089699.44951510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.579ms + 4.33sINFOjoint_trajectory_controllerReceived new action goal + 4.33sINFOjoint_trajectory_controllerAccepted new action goal + 4.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498020 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498020 ms (missed cycles : 3).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961481 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961481 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158689 ms (missed cycles : 4). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158689 ms (missed cycles : 4).[0m ×2 + 7.08sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 7.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034840 ms (missed cycles : 3). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034840 ms (missed cycles : 3).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869276 ms (missed cycles : 4). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869276 ms (missed cycles : 4).[0m ×2 + 9.73sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789089705.34970427 seconds ×3 + 10.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Refine Localization In Place" objective_xml_string: "" parameter_overrides: - description: name: "min_inlier_fraction" type: 2 string_value: "-1.0" pose_value: header: stamp: sec: 0 nanosec: 0 frame_id: "" pose: position: x: 0.00000 y: 0.00000 z: 0.00000 orientation: x: 0.00000 y: 0.00000 z: 0.00000 w: 1.00000 double_value: 0.00000 int_value: 0 bool_value: false joint_state_value: header: stamp: sec: 0 nanosec: 0 frame_id: "" name: [] position: [] velocity: [] effort: [] behavior_namespaces: - "Tighten the estimate without moving" caller: type: 0 name: "" instance_id: "" + 10.28sINFOobjective_server_nodeobjective_name: "Refine Localization In Place" ×2 + 10.28sINFOobjective_server_nodeparameter_overrides: ×2 + 10.28sINFOobjective_server_node- ×2 + 10.28sINFOobjective_server_nodedescription: ×2 + 10.28sINFOobjective_server_nodename: "min_inlier_fraction" ×2 + 10.28sINFOobjective_server_nodetype: 2 ×2 + 10.28sINFOobjective_server_nodestring_value: "-1.0" ×2 + 10.28sINFOobjective_server_nodepose_value: ×2 + 10.28sINFOobjective_server_nodeheader: ×4 + 10.28sINFOobjective_server_nodestamp: ×4 + 10.28sINFOobjective_server_nodesec: 0 ×4 + 10.28sINFOobjective_server_nodenanosec: 0 ×4 + 10.28sINFOobjective_server_nodeframe_id: "" ×4 + 10.28sINFOobjective_server_nodepose: ×2 + 10.28sINFOobjective_server_nodeposition: ×2 + 10.28sINFOobjective_server_nodex: 0.00000 ×4 + 10.28sINFOobjective_server_nodey: 0.00000 ×4 + 10.28sINFOobjective_server_nodez: 0.00000 ×4 + 10.28sINFOobjective_server_nodeorientation: ×2 + 10.28sINFOobjective_server_nodew: 1.00000 ×2 + 10.28sINFOobjective_server_nodedouble_value: 0.00000 ×2 + 10.28sINFOobjective_server_nodeint_value: 0 ×2 + 10.28sINFOobjective_server_nodebool_value: false ×2 + 10.28sINFOobjective_server_nodejoint_state_value: ×2 + 10.28sINFOobjective_server_nodename: [] ×2 + 10.28sINFOobjective_server_nodeposition: [] ×2 + 10.28sINFOobjective_server_nodevelocity: [] ×2 + 10.28sINFOobjective_server_nodeeffort: [] ×2 + 10.28sINFOobjective_server_nodebehavior_namespaces: ×2 + 10.28sINFOobjective_server_node- "Tighten the estimate without moving" ×2 + 10.32sINFOobjective_server_nodeObjective `Refine Localization In Place` starting at time: 1789089705.93594646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.32sINFOobjective_server_nodeSeed the filter at the clicked pose Info: Seeded localization at (-1.394, 0.155) yaw -3.7 deg, spread 0.50 m / 14.9 deg. ×3 + 10.32sINFOamclInitializing particles from estimated pose and covariance + 10.32sINFOamclParticle filter initialized with 5000 particles about initial pose x=-1.39429, y=0.155115, yaw=-0.0641179 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830174 ms (missed cycles : 4). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830174 ms (missed cycles : 4).[0m ×2 + 10.54sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 5.139ms + 10.63sINFOamclNo-motion update requested ×17 + 11.12sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 2.566ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 11.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	46 warnings · 145 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781431 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781431 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793951 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793951 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095573 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095573 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789089467.18884087 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598966 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598966 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789089467.77396321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 4.56sWARNros2_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 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875096 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875096 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (2.4679e-05 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069654 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069654 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2).[0m ×2 + 6.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 7.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995846 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995846 ms (missed cycles : 2).[0m ×2 + 7.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 8.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806998 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806998 ms (missed cycles : 2).[0m ×2 + 9.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 9.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789089473.30554104 seconds ×3 + 9.68sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.86sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227746 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227746 ms (missed cycles : 2).[0m ×2 + 9.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789089473.89973903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.27sWARNros2_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 + 10.28sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.907ms + 10.30sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800620 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800620 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247660 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247660 ms (missed cycles : 3).[0m ×2 + 12.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Refine Localization In Place	refine_localization_in_place.xml	4.7s	45 warnings · 229 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158689 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158689 ms (missed cycles : 4).[0m ×2 + 0.01sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034840 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034840 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869276 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869276 ms (missed cycles : 4).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789089705.34970427 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Refine Localization In Place" objective_xml_string: "" parameter_overrides: - description: name: "min_inlier_fraction" type: 2 string_value: "-1.0" pose_value: header: stamp: sec: 0 nanosec: 0 frame_id: "" pose: position: x: 0.00000 y: 0.00000 z: 0.00000 orientation: x: 0.00000 y: 0.00000 z: 0.00000 w: 1.00000 double_value: 0.00000 int_value: 0 bool_value: false joint_state_value: header: stamp: sec: 0 nanosec: 0 frame_id: "" name: [] position: [] velocity: [] effort: [] behavior_namespaces: - "Tighten the estimate without moving" caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Refine Localization In Place" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: ×2 + 3.21sINFOobjective_server_node- ×2 + 3.21sINFOobjective_server_nodedescription: ×2 + 3.21sINFOobjective_server_nodename: "min_inlier_fraction" ×2 + 3.21sINFOobjective_server_nodetype: 2 ×2 + 3.21sINFOobjective_server_nodestring_value: "-1.0" ×2 + 3.21sINFOobjective_server_nodepose_value: ×2 + 3.21sINFOobjective_server_nodeheader: ×4 + 3.21sINFOobjective_server_nodestamp: ×4 + 3.21sINFOobjective_server_nodesec: 0 ×4 + 3.21sINFOobjective_server_nodenanosec: 0 ×4 + 3.22sINFOobjective_server_nodeframe_id: "" ×4 + 3.22sINFOobjective_server_nodepose: ×2 + 3.22sINFOobjective_server_nodeposition: ×2 + 3.22sINFOobjective_server_nodex: 0.00000 ×4 + 3.22sINFOobjective_server_nodey: 0.00000 ×4 + 3.22sINFOobjective_server_nodez: 0.00000 ×4 + 3.22sINFOobjective_server_nodeorientation: ×2 + 3.22sINFOobjective_server_nodew: 1.00000 ×2 + 3.22sINFOobjective_server_nodedouble_value: 0.00000 ×2 + 3.22sINFOobjective_server_nodeint_value: 0 ×2 + 3.22sINFOobjective_server_nodebool_value: false ×2 + 3.22sINFOobjective_server_nodejoint_state_value: ×2 + 3.22sINFOobjective_server_nodename: [] ×2 + 3.22sINFOobjective_server_nodeposition: [] ×2 + 3.22sINFOobjective_server_nodevelocity: [] ×2 + 3.22sINFOobjective_server_nodeeffort: [] ×2 + 3.22sINFOobjective_server_nodebehavior_namespaces: ×2 + 3.22sINFOobjective_server_node- "Tighten the estimate without moving" ×2 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Refine Localization In Place` starting at time: 1789089705.93594646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeSeed the filter at the clicked pose Info: Seeded localization at (-1.394, 0.155) yaw -3.7 deg, spread 0.50 m / 14.9 deg. ×3 + 3.26sINFOamclInitializing particles from estimated pose and covariance + 3.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-1.39429, y=0.155115, yaw=-0.0641179 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830174 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830174 ms (missed cycles : 4).[0m ×2 + 3.48sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 5.139ms + 3.57sINFOamclNo-motion update requested ×20 + 4.06sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 2.566ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 6.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2).[0m ×2 + 6.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 7.39sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-1.232, 0.076) yaw -1.8 deg: 31.8% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.354 m. ×3 + 7.39sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 7.40sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789089710.07587051 seconds ×3 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4).[0m ×2 + 7.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.94sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 7.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 7.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789089710.66354275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 8.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3).[0m ×2 + 10.34sWARNros2_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 + 10.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 10.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 10.70sINFOjoint_trajectory_controllerReceived new action goal + 10.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 10.70sINFOjoint_trajectory_controllerAccepted new action goal + 10.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.6s	32 warnings · 117 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725631 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725631 ms (missed cycles : 3).[0m ×2 + 0.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 0.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.415ms + 0.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.438ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969299 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969299 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.461ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237501 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237501 ms (missed cycles : 4).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.216ms + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789089784.59787822 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961255 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961255 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089785.21043396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.649ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181291 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181291 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089786.23056889 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089786.81485391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925811 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925811 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089787.37499475 seconds ×3 + 5.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119329 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119329 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116633 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116633 ms (missed cycles : 4).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[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 6.554725 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 0.15sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.15sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.17sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.17sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.73sINFOmove_groupClearing octomap...[0m ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 1.85sWARNros2_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 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_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 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_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 + 2.68sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985985 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985985 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	27 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781431 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781431 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793951 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793951 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095573 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095573 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789089467.18884087 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598966 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598966 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789089467.77396321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 4.56sWARNros2_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 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875096 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875096 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (2.4679e-05 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069654 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069654 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2).[0m ×2 + 6.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	27 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781431 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781431 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793951 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793951 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095573 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095573 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789089467.18884087 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598966 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598966 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789089467.77396321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 4.56sWARNros2_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 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875096 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875096 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (2.4679e-05 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069654 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069654 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2).[0m ×2 + 6.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms
− skipped	Close Gripper	close_gripper.xml	0.0s	25 warnings · 310 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.64sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.22sINFOmove_groupClearing octomap...[0m ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 4.34sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 4.95sWARNros2_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 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	22 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533927 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995846 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995846 ms (missed cycles : 2).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806998 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806998 ms (missed cycles : 2).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789089473.30554104 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.89sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227746 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227746 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789089473.89973903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sWARNros2_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 + 3.49sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.907ms + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800620 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800620 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247660 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247660 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	43 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789089530.51988482 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.30sWARNlocal_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 + 3.30sWARNlocal_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 + 3.50sWARNlocal_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 + 3.50sWARNlocal_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 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789089531.11000967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.486ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	43 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789089530.51988482 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.30sWARNlocal_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 + 3.30sWARNlocal_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 + 3.50sWARNlocal_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 + 3.50sWARNlocal_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 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789089531.11000967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.486ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	43 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789089530.51988482 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.30sWARNlocal_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 + 3.30sWARNlocal_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 + 3.50sWARNlocal_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 + 3.50sWARNlocal_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 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789089531.11000967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.486ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	43 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789089530.51988482 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.30sWARNlocal_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 + 3.30sWARNlocal_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 + 3.50sWARNlocal_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 + 3.50sWARNlocal_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 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789089531.11000967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.486ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	43 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789089530.51988482 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.30sWARNlocal_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 + 3.30sWARNlocal_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 + 3.50sWARNlocal_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 + 3.50sWARNlocal_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 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789089531.11000967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.486ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	43 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997639 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954132 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237501 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877402 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789089530.51988482 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.30sWARNlocal_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 + 3.30sWARNlocal_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 + 3.50sWARNlocal_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 + 3.50sWARNlocal_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 + 3.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789089531.11000967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.486ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292334 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077854 ms (missed cycles : 2).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997353 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	45 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565821 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565821 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993319 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993319 ms (missed cycles : 3).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298441 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298441 ms (missed cycles : 3).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 2.97sWARNros2_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 + 3.00sWARNros2_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 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923693 ms (missed cycles : 3). + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789089569.68728948 seconds ×3 + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923693 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) 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 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789089570.27497029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.341ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326346 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326346 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377953 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377953 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684795 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684795 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	45 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565821 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565821 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993319 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993319 ms (missed cycles : 3).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298441 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298441 ms (missed cycles : 3).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 2.97sWARNros2_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 + 3.00sWARNros2_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 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923693 ms (missed cycles : 3). + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789089569.68728948 seconds ×3 + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923693 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) 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 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789089570.27497029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.341ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326346 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326346 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377953 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377953 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684795 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684795 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	45 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565821 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565821 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993319 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993319 ms (missed cycles : 3).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298441 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298441 ms (missed cycles : 3).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 2.97sWARNros2_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 + 3.00sWARNros2_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 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923693 ms (missed cycles : 3). + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789089569.68728948 seconds ×3 + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923693 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) 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 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789089570.27497029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.341ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326346 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326346 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377953 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377953 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684795 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684795 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	25 warnings · 310 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.64sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.22sINFOmove_groupClearing octomap...[0m ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 4.34sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 4.95sWARNros2_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 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	26 warnings · 153 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158689 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158689 ms (missed cycles : 4).[0m ×2 + 0.01sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034840 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034840 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869276 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869276 ms (missed cycles : 4).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789089705.34970427 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Refine Localization In Place" objective_xml_string: "" parameter_overrides: - description: name: "min_inlier_fraction" type: 2 string_value: "-1.0" pose_value: header: stamp: sec: 0 nanosec: 0 frame_id: "" pose: position: x: 0.00000 y: 0.00000 z: 0.00000 orientation: x: 0.00000 y: 0.00000 z: 0.00000 w: 1.00000 double_value: 0.00000 int_value: 0 bool_value: false joint_state_value: header: stamp: sec: 0 nanosec: 0 frame_id: "" name: [] position: [] velocity: [] effort: [] behavior_namespaces: - "Tighten the estimate without moving" caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Refine Localization In Place" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: ×2 + 3.21sINFOobjective_server_node- ×2 + 3.21sINFOobjective_server_nodedescription: ×2 + 3.21sINFOobjective_server_nodename: "min_inlier_fraction" ×2 + 3.21sINFOobjective_server_nodetype: 2 ×2 + 3.21sINFOobjective_server_nodestring_value: "-1.0" ×2 + 3.21sINFOobjective_server_nodepose_value: ×2 + 3.21sINFOobjective_server_nodeheader: ×4 + 3.21sINFOobjective_server_nodestamp: ×4 + 3.21sINFOobjective_server_nodesec: 0 ×4 + 3.21sINFOobjective_server_nodenanosec: 0 ×4 + 3.22sINFOobjective_server_nodeframe_id: "" ×4 + 3.22sINFOobjective_server_nodepose: ×2 + 3.22sINFOobjective_server_nodeposition: ×2 + 3.22sINFOobjective_server_nodex: 0.00000 ×4 + 3.22sINFOobjective_server_nodey: 0.00000 ×4 + 3.22sINFOobjective_server_nodez: 0.00000 ×4 + 3.22sINFOobjective_server_nodeorientation: ×2 + 3.22sINFOobjective_server_nodew: 1.00000 ×2 + 3.22sINFOobjective_server_nodedouble_value: 0.00000 ×2 + 3.22sINFOobjective_server_nodeint_value: 0 ×2 + 3.22sINFOobjective_server_nodebool_value: false ×2 + 3.22sINFOobjective_server_nodejoint_state_value: ×2 + 3.22sINFOobjective_server_nodename: [] ×2 + 3.22sINFOobjective_server_nodeposition: [] ×2 + 3.22sINFOobjective_server_nodevelocity: [] ×2 + 3.22sINFOobjective_server_nodeeffort: [] ×2 + 3.22sINFOobjective_server_nodebehavior_namespaces: ×2 + 3.22sINFOobjective_server_node- "Tighten the estimate without moving" ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Refine Localization In Place` starting at time: 1789089705.93594646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeSeed the filter at the clicked pose Info: Seeded localization at (-1.394, 0.155) yaw -3.7 deg, spread 0.50 m / 14.9 deg. ×3 + 3.26sINFOamclInitializing particles from estimated pose and covariance + 3.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-1.39429, y=0.155115, yaw=-0.0641179 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830174 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830174 ms (missed cycles : 4).[0m ×2 + 3.48sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 5.139ms + 3.57sINFOamclNo-motion update requested ×17 + 4.06sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 2.566ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 6.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	29 warnings · 93 info
+ 0.00sINFOamclNo-motion update requested ×16 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.87sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 3.15sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-1.232, 0.076) yaw -1.8 deg: 31.8% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.354 m. ×3 + 3.15sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.15sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789089710.07587051 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789089710.66354275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3).[0m ×2 + 6.09sWARNros2_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 + 6.11sWARNros2_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 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	25 warnings · 310 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.64sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.22sINFOmove_groupClearing octomap...[0m ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 4.34sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 4.95sWARNros2_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 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	29 warnings · 93 info
+ 0.00sINFOamclNo-motion update requested ×16 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.87sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 3.15sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-1.232, 0.076) yaw -1.8 deg: 31.8% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.354 m. ×3 + 3.15sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.15sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789089710.07587051 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789089710.66354275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3).[0m ×2 + 6.09sWARNros2_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 + 6.11sWARNros2_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 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	29 warnings · 93 info
+ 0.00sINFOamclNo-motion update requested ×16 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.87sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 3.15sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-1.232, 0.076) yaw -1.8 deg: 31.8% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.354 m. ×3 + 3.15sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.15sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789089710.07587051 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789089710.66354275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3).[0m ×2 + 6.09sWARNros2_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 + 6.11sWARNros2_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 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	29 warnings · 93 info
+ 0.00sINFOamclNo-motion update requested ×16 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.87sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 3.15sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-1.232, 0.076) yaw -1.8 deg: 31.8% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.354 m. ×3 + 3.15sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.15sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789089710.07587051 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789089710.66354275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3).[0m ×2 + 6.09sWARNros2_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 + 6.11sWARNros2_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 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	29 warnings · 93 info
+ 0.00sINFOamclNo-motion update requested ×16 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.87sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 3.15sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-1.232, 0.076) yaw -1.8 deg: 31.8% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.354 m. ×3 + 3.15sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.15sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789089710.07587051 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789089710.66354275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3).[0m ×2 + 6.09sWARNros2_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 + 6.11sWARNros2_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 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	29 warnings · 93 info
+ 0.00sINFOamclNo-motion update requested ×16 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.87sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 3.15sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-1.232, 0.076) yaw -1.8 deg: 31.8% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.354 m. ×3 + 3.15sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.15sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789089710.07587051 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789089710.66354275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3).[0m ×2 + 6.09sWARNros2_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 + 6.11sWARNros2_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 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	29 warnings · 93 info
+ 0.00sINFOamclNo-motion update requested ×16 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062361 ms (missed cycles : 2).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.470ms + 0.87sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148035 ms (missed cycles : 2).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683498 ms (missed cycles : 2).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 3.15sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-1.232, 0.076) yaw -1.8 deg: 31.8% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.354 m. ×3 + 3.15sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.15sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789089710.07587051 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976308 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789089710.66354275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297665 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941937 ms (missed cycles : 3).[0m ×2 + 6.09sWARNros2_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 + 6.11sWARNros2_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 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal + 6.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790216 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	27 warnings · 117 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725631 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725631 ms (missed cycles : 3).[0m ×2 + 0.01sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 0.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.415ms + 0.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.438ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969299 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969299 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.461ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237501 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237501 ms (missed cycles : 4).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.216ms + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789089784.59787822 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961255 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961255 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089785.21043396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.649ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181291 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181291 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089786.23056889 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089786.81485391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925811 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925811 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089787.37499475 seconds ×3 + 5.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119329 ms (missed cycles : 2).

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3).[0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.65sINFOobjective_server_nodecaller: ×10 + 3.65sINFOobjective_server_nodetype: 0 ×10 + 3.65sINFOobjective_server_nodename: "" ×10 + 3.65sINFOobjective_server_nodeinstance_id: "" ×10 + 3.65sINFOobjective_server_node ×10 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 4.81sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_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 + 5.65sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 7.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 316 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.64sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.22sINFOmove_groupClearing octomap...[0m ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 4.34sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 4.95sWARNros2_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 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.14sINFOjoint_trajectory_controllerReceived new action goal + 7.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.14sINFOjoint_trajectory_controllerAccepted new action goal + 7.14sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	24 warnings · 326 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3).[0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.65sINFOobjective_server_nodecaller: ×10 + 3.65sINFOobjective_server_nodetype: 0 ×10 + 3.65sINFOobjective_server_nodename: "" ×10 + 3.65sINFOobjective_server_nodeinstance_id: "" ×10 + 3.65sINFOobjective_server_node ×10 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 4.81sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_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 + 5.65sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	25 warnings · 310 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.64sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.22sINFOmove_groupClearing octomap...[0m ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 4.34sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 4.95sWARNros2_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 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	25 warnings · 310 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.64sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.22sINFOmove_groupClearing octomap...[0m ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 4.34sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 4.95sWARNros2_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 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	25 warnings · 310 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600931 ms (missed cycles : 3).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 2.64sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.64sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.22sINFOmove_groupClearing octomap...[0m ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 4.34sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 4.95sWARNros2_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 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_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 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	28 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985985 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985985 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554725 ms (missed cycles : 4).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089421.59814429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089421.60843849 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779456 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089422.18985820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089422.19997120 seconds ×3 + 2.90sWARNros2_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 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089422.78272200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089422.93332124 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100953 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_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 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089423.53958631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089423.58973145 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180896 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789089424.16974425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344906 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986401 ms (missed cycles : 2).[0m ×2