82
Total objective tests
19
Objectives passed
0
Objectives failed
63
Objectives skipped
20.9s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.2s | 12 errors · 321 warnings · 1527 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/2026-09-11-01-26-40-570191-ae387d978c03-8580 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.37sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.37sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 4.39sINFOstatic_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' + 4.39sINFOstatic_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' + 4.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.60sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.63sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.63sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.64sINFOcontroller_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. + 4.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.68sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.71sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.72sINFOros2_control_node-12process started with pid [8722] ×2 + 4.72sINFOmove_group-24process started with pid [8751] ×2 + 4.72sINFOparameter_manager_node-25process started with pid [8785] ×2 + 4.72sINFOwaypoint_manager_node-26process started with pid [8786] ×2 + 4.72sINFOmove_joint_resampler_node-27process started with pid [8787] ×2 + 4.72sINFOmove_end_effector_resampler_node-28process started with pid [8788] ×2 + 4.72sINFOobjective_server_node_main-29process started with pid [8789] ×2 + 4.72sINFOcomponent_container_mt-30process started with pid [8792] ×2 + 4.72sINFOcomponent_container_mt-31process started with pid [8793] ×2 + 4.72sINFOexecute_objective_bridge-32process started with pid [8794] ×2 + 4.72sINFOui_teleop_bridge-33process started with pid [8797] ×2 + 4.72sINFOweb_bridge-34process started with pid [8801] ×2 + 4.72sINFOtf2_web_republisher_node-35process started with pid [8802] ×2 + 4.72sINFOvideo_server-36process started with pid [8807] ×2 + 4.72sINFOweb_bridge_auth_proxy-37process started with pid [8813] ×2 + 4.72sINFOweb_video_auth_proxy-38process started with pid [8818] ×2 + 4.72sINFOcontroller_managerupdate rate is 600 Hz + 4.72sINFOcontroller_managerOverruns handling is : enabled + 4.72sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.72sINFOcomponent_container_isolated-1process started with pid [8630] ×2 + 4.72sINFOcontroller_serverCreating controller server + 4.72sINFOcomponent_container_isolated-2process started with pid [8631] ×2 + 4.72sINFOstatic_transform_publisher-3process started with pid [8632] ×2 + 4.72sINFOstatic_transform_publisher-4process started with pid [8633] ×2 + 4.72sINFOodom_qos_relay.py-5process started with pid [8634] ×2 + 4.72sINFOforward_stereo_publisher.py-6process started with pid [8635] ×2 + 4.72sINFOlidar_flattener.py-7process started with pid [8636] ×2 + 4.72sINFOstatic_transform_publisher-8process started with pid [8637] ×2 + 4.72sINFOstatic_transform_publisher-9process started with pid [8638] ×2 + 4.72sINFOscan_to_scan_filter_chain-10process started with pid [8720] ×2 + 4.72sINFOscan_to_scan_filter_chain-11process started with pid [8721] ×2 + 4.72sINFOros2-13process started with pid [8723] ×2 + 4.72sINFOros2-14process started with pid [8724] ×2 + 4.72sWARNcontroller_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. + 4.74sINFOros2-15process started with pid [8725] ×2 + 4.74sINFOros2-16process started with pid [8728] ×2 + 4.74sINFOros2-17process started with pid [8731] ×2 + 4.74sINFOros2-18process started with pid [8734] ×2 + 4.74sINFOros2-19process started with pid [8735] ×2 + 4.74sINFOros2-20process started with pid [8738] ×2 + 4.74sINFOros2-21process started with pid [8739] ×2 + 4.74sINFOros2-22process started with pid [8740] ×2 + 4.74sINFOros2-23process started with pid [8741] ×2 + 4.74sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.75sINFOlocal_costmap.local_costmapCreating Costmap + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.77sWARNstatic_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 + 4.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.79sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684728 ms (missed cycles : 5). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684728 ms (missed cycles : 5).[0m ×2 + 4.85sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.85sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 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 + 4.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.89sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.89sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.89sINFOsmoother_serverCreating smoother server + 4.89sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.89sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.89sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.89sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.91sINFOmap_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. + 4.91sINFOmap_serverCreating + 4.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.93sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.93sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.96sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.96sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.96sINFOplanner_serverCreating + 4.96sINFOrobot_state_publisherRobot initialized + 4.96sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.97sINFOcontroller_managerReceived robot description from topic. + 4.97sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.97sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.97sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.99sINFOvideo_server2026/09/11 01:26:47 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.99sINFOvideo_server2026/09/11 01:26:47 INF configuration loaded from /tmp/moveit-webrtc-cbjnnnkt/mediamtx.yml ×2 + 4.99sINFOvideo_server2026/09/11 01:26:47 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.99sINFOvideo_server2026/09/11 01:26:47 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.99sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.00sINFOglobal_costmap.global_costmapCreating Costmap + 5.01sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.01sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.01sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.03sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.04sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.04sINFObehavior_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. + 5.05sINFOlifecycle_manager_localizationCreating + 5.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.05sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.08sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.09sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.09sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.09sINFOmap_serverConfiguring + 5.13sINFObt_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. + 5.16sINFObt_navigatorCreating + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.23sINFOwaypoint_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. + 5.23sINFOwaypoint_followerCreating + 5.24sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.24sINFOamclConfiguring + 5.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.25sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.26sINFOmap_serverActivating + 5.26sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.30sINFOvelocity_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. + 5.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.34sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.36sINFOlifecycle_manager_navigationCreating + 5.38sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.38sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.38sINFOamclActivating + 5.38sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.38sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.38sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.39sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.403597 seconds + 5.39sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.39sINFOmove_groupLoaded robot model in 0.403597 seconds[0m ×2 + 5.39sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.40sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.40sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.40sINFOamclSubscribed to map_topic: /map + 5.40sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.40sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.41sINFOamclSubscribed to scan_topic: /scan_merged + 5.41sINFOamclCreated reinitialize_global_localization service + 5.41sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.41sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.42sINFOcontroller_serverConfiguring controller interface + 5.42sINFOcontroller_servergetting progress checker plugins.. + 5.42sINFOcontroller_servergetting goal checker plugins.. + 5.42sINFOcontroller_serverController frequency set to 20.0000Hz + 5.42sINFOlocal_costmap.local_costmapConfiguring + 5.42sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.42sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.43sINFOamclCreated request_nomotion_update service + 5.43sINFOamclA new map was received + 5.43sINFOamclInitializing particle filter instance + 5.43sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.44sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.47sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.47sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.47sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.50sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.50sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.51sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.51sWARNlaser_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. + 5.51sWARNscan_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 + 5.51sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.52sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.52sWARNlaser_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. + 5.54sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.56sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.56sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.56sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.56sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.57sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.57sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.57sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.57sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.58sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.58sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.59sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.60sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.60sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.60sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.60sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.61sINFOcontroller_serverOptimizer reset ×2 + 5.63sINFOcontroller_serverController Server has FollowPath controllers available. + 5.64sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.64sINFOsmoother_serverConfiguring smoother server + 5.67sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.71sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.72sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.72sINFOplanner_serverConfiguring + 5.72sINFOglobal_costmap.global_costmapConfiguring + 5.75sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.75sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.75sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.75sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.76sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.81sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.81sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.81sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698883 ms (missed cycles : 4). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698883 ms (missed cycles : 4).[0m ×2 + 5.88sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.88sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.88sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.89sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.89sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.91sINFOplanner_serverPlanner Server has GridBased planners available. + 5.93sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.93sINFObehavior_serverConfiguring + 5.94sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.94sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.95sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.96sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.98sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.99sINFObehavior_serverConfiguring spin + 6.01sINFObehavior_serverConfiguring backup + 6.03sINFObehavior_serverConfiguring drive_on_heading + 6.04sINFObehavior_serverConfiguring assisted_teleop + 6.04sINFOwaypoint_manager_nodeLoaded robot model in 0.229558 seconds[0m ×2 + 6.04sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.04sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.08sINFObehavior_serverConfiguring wait + 6.10sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.10sINFObt_navigatorConfiguring + 6.10sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.11sWARNbt_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 + 6.20sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.20sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.20sWARNmove_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. + 6.21sWARNmove_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 + 6.21sWARNmove_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. + 6.21sWARNmove_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 + 6.21sWARNmove_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. + 6.21sWARNmove_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 + 6.21sWARNmove_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. + 6.21sWARNmove_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 + 6.22sWARNmove_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. + 6.22sWARNmove_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 + 6.22sWARNmove_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. + 6.22sWARNmove_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 + 6.23sWARNmove_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. + 6.23sWARNmove_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. + 6.23sWARNmove_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 + 6.23sWARNmove_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 + 6.23sWARNmove_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. + 6.24sWARNmove_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 + 6.24sWARNmove_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. + 6.24sWARNmove_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 + 6.25sINFOamclParticle filter initialization completed + 6.25sINFOamclInitializing particles from map + 6.25sINFOamclParticle filter initialized with 5000 particles distributed across the map + 6.28sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.28sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.28sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.31sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.35sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.36sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.36sINFOwaypoint_followerConfiguring + 6.39sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.39sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.39sINFOvelocity_smootherConfiguring velocity smoother + 6.41sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.41sINFOcontroller_serverActivating + 6.41sINFOlocal_costmap.local_costmapActivating + 6.41sINFOlocal_costmap.local_costmapChecking transform + 6.41sINFOlocal_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. ×3 + 6.51sWARNwaypoint_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. + 6.51sWARNwaypoint_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. + 6.51sWARNwaypoint_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. + 6.51sWARNwaypoint_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. + 6.51sWARNwaypoint_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. + 6.51sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.53sWARNwaypoint_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. + 6.53sWARNwaypoint_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 + 6.53sWARNwaypoint_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. + 6.53sWARNwaypoint_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 + 6.53sWARNwaypoint_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. + 6.53sWARNwaypoint_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 + 6.53sWARNwaypoint_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. + 6.53sWARNwaypoint_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 + 6.53sWARNwaypoint_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. + 6.53sWARNwaypoint_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. + 6.53sWARNwaypoint_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 + 6.53sWARNwaypoint_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 + 6.53sWARNwaypoint_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. + 6.53sWARNwaypoint_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. + 6.53sWARNwaypoint_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 + 6.53sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sINFOmove_group[2026-09-11 01:26:48.811] [moveit_pro_license] [info] ×2 + 6.57sINFOmove_group************************************************* ×4 + 6.57sINFOmove_group* MoveIt Pro License ×2 + 6.57sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.73sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.73sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.73sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.73sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.76sINFOros2_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 + 6.76sINFOros2_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 + 7.03sINFOwaypoint_manager_node[2026-09-11 01:26:49.264] [moveit_pro_license] [info] ×2 + 7.03sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.03sINFOwaypoint_manager_node************************************************* ×4 + 7.03sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.03sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.03sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.03sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.03sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.03sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.03sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.03sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.03sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.03sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.03sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.04sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.04sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.04sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.05sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.05sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.05sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.05sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.47sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.47sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.48sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.51sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.51sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.51sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.51sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.51sWARNros2_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 + 7.51sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.51sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.51sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.51sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.51sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.51sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.51sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.51sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.51sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.51sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.51sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.51sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.51sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.51sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.52sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.52sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.52sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.52sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.52sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.52sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.52sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.52sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.52sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714436 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714436 ms (missed cycles : 2).[0m ×2 + 7.65sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.65sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 7.66sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 7.68sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.68sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.68sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.75sINFOros2_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 + 7.75sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.75sWARNros2_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 + 7.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.80sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.80sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.80sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.80sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.80sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.87sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.88sWARNcomponent_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 + 7.91sINFOlocal_costmap.local_costmapstart + 7.93sINFOobjective_server_node[2026-09-11 01:26:50.174] [moveit_pro_license] [info] ×2 + 7.93sINFOobjective_server_node************************************************* ×4 + 7.93sINFOobjective_server_node* MoveIt Pro License ×2 + 7.93sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.01sWARNcontroller_serverParameter controller_server.verbose not found + 8.01sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 8.02sINFOobjective_server_nodeLoaded robot model in 0.0386548 seconds[0m ×2 + 8.03sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.03sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.03sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.03sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.04sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.04sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.04sINFOstreaming_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) + 8.04sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.04sINFOcomponent_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 + 8.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.05sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.09sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.09sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.09sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.09sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.12sINFOros2-15process has finished cleanly [pid 8725] ×2 + 8.13sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 8.13sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 8.13sINFOsmoother_serverActivating + 8.13sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 8.21sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 8.21sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 8.23sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 8.23sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 8.23sINFOplanner_serverActivating + 8.23sINFOglobal_costmap.global_costmapActivating + 8.23sINFOglobal_costmap.global_costmapChecking transform + 8.23sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×7 + 8.25sINFOcomponent_container_mtLoaded robot model in 0.374203 seconds[0m ×2 + 8.25sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.25sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.27sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.27sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.27sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.27sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.28sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.28sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.42sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.42sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.44sINFOstreaming_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) + 8.44sINFOcomponent_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 + 8.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008378 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008378 ms (missed cycles : 2).[0m ×2 + 8.57sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.57sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.57sWARNobjective_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. + 8.57sWARNobjective_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. + 8.57sWARNobjective_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 + 8.57sWARNobjective_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 + 8.57sWARNobjective_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. + 8.57sWARNobjective_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 + 8.57sWARNobjective_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. + 8.57sWARNobjective_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 + 8.57sWARNobjective_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. + 8.57sWARNobjective_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 + 8.57sWARNobjective_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. + 8.57sWARNobjective_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 + 8.58sWARNobjective_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. + 8.58sWARNobjective_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 + 8.58sWARNobjective_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. + 8.58sWARNobjective_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 + 8.58sWARNobjective_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. + 8.58sWARNobjective_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 + 8.58sWARNobjective_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. + 8.58sWARNobjective_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 + 8.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.65sINFOobjective_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 + 8.65sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.67sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 8.67sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.67sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.67sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.67sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.67sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.67sINFOobjective_server_nodehangar_sim_behaviors::HangarSimBehaviorsLoader ×2 + 8.67sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.78sWARNplanning_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. + 8.78sWARNplanning_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. + 8.78sWARNcomponent_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 + 8.78sWARNplanning_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. + 8.78sWARNcomponent_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 + 8.78sWARNplanning_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. + 8.78sWARNcomponent_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 + 8.78sWARNcomponent_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 + 8.78sWARNplanning_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. + 8.78sWARNplanning_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. + 8.78sWARNplanning_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. + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.79sWARNplanning_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. + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNcomponent_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 + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.79sWARNcomponent_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 + 8.79sWARNplanning_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. + 8.80sWARNcomponent_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 + 8.80sWARNplanning_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. + 8.80sWARNcomponent_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 + 8.80sWARNplanning_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. + 8.80sWARNcomponent_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 + 8.80sWARNplanning_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. + 8.80sWARNplanning_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. + 8.80sWARNcomponent_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 + 8.80sWARNcomponent_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 + 8.81sINFOros2_control_node[2026-09-11 01:26:51.049] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.81sINFOros2_control_node[2026-09-11 01:26:51.052] [info] Controller state will be published at 10 Hz. ×2 + 8.82sINFOros2_control_node[2026-09-11 01:26:51.054] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.96sINFOcomponent_container_mt[2026-09-11 01:26:51.202] [moveit_pro_license] [info] ×2 + 8.96sINFOcomponent_container_mt************************************************* ×4 + 8.96sINFOcomponent_container_mt* MoveIt Pro License ×2 + 8.96sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.98sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.98sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.12sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.12sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.12sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.12sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.12sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.17sINFOros2-20process has finished cleanly [pid 8738] ×2 + 9.20sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 9.20sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 9.21sINFOmove_groupMoveGroup debug mode is ON + 9.21sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.21sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.25sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.25sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.25sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.25sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.27sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.27sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.27sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.27sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.37sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.37sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.38sINFOmove_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
********************************************************
+ 9.38sINFOmove_group ×8 + 9.38sINFOmove_group******************************************************** ×4 + 9.38sINFOmove_group* MoveGroup using: ×2 + 9.38sINFOmove_group* - apply_planning_scene_service ×2 + 9.38sINFOmove_group* - clear_octomap_service ×2 + 9.38sINFOmove_group* - get_group_urdf ×2 + 9.38sINFOmove_group* - load_geometry_from_file ×2 + 9.38sINFOmove_group* - get_planning_scene_service ×2 + 9.38sINFOmove_group* - kinematics_service ×2 + 9.38sINFOmove_group* - save_geometry_to_file ×2 + 9.38sINFOmove_group* - GetPlanningGroups ×2 + 9.38sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.38sINFOmove_group[0m ×2 + 9.38sINFOmove_group[92mYou can start planning now![0m ×2 + 9.38sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715639 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715639 ms (missed cycles : 2).[0m ×2 + 9.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.70sINFOros2_control_node[2026-09-11 01:26:51.939] [info] Controller state will be published at 20 Hz. ×2 + 9.70sINFOros2_control_node[2026-09-11 01:26:51.941] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.82sWARNros2_control_nodeCamera render tick took 1.13 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.85sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.85sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×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 + 9.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.211ms + 10.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 10.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 10.06sINFOros2-22process has finished cleanly [pid 8740] ×2 + 10.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.11sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.11sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.11sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.11sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.11sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.11sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.11sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.11sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.11sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.41sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.41sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.41sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.41sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.42sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 10.42sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 10.45sINFOros2-19process has finished cleanly [pid 8735] ×2 + 10.47sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.47sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.47sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.47sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.48sINFOplatform_velocity_controllerconfigure successful + 10.48sINFOros2_control_nodeconfigure successful[0m ×6 + 10.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.49sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.49sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.50sWARNros2_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 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834083 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834083 ms (missed cycles : 3).[0m ×2 + 10.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 10.79sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 10.83sINFOros2-16process has finished cleanly [pid 8728] ×2 + 10.85sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.85sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.16sINFOamclInitializing particles from estimated pose and covariance + 11.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 11.26sINFOros2_control_node[2026-09-11 01:26:53.494] [info] Controller state will be published at 20 Hz. ×2 + 11.26sINFOros2_control_node[2026-09-11 01:26:53.495] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 11.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 11.61sINFOros2-23process has finished cleanly [pid 8741] ×2 + 11.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.62sINFOforce_torque_sensor_broadcasterconfigure successful + 11.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 5.174ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105219 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105219 ms (missed cycles : 3).[0m ×2 + 11.73sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789090013.962106, but only time 1789090014.321812 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.98sINFOros2-13process has finished cleanly [pid 8723] ×2 + 12.05sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 12.05sINFOcontroller_managerLoading controller 'vacuum_gripper' + 12.05sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 12.05sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 12.05sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 12.05sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 12.08sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 12.08sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 12.10sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 12.10sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 12.10sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 12.10sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 12.10sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 12.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 12.11sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 12.11sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 12.11sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 12.11sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 12.23sINFOglobal_costmap.global_costmapstart + 12.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.45sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.45sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 12.45sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.45sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.45sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 12.45sINFOros2-17process has finished cleanly [pid 8731] ×2 + 12.51sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.51sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.51sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.51sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.51sINFOplatform_velocity_controller_nav2configure successful + 12.55sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789090013.911 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356159 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356159 ms (missed cycles : 3).[0m ×2 + 12.85sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.85sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.85sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.85sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.86sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 12.86sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 12.89sINFOros2-18process has finished cleanly [pid 8734] ×2 + 12.90sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.90sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 13.28sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.28sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.28sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.28sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela + 13.28sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_voats8se --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_l4osiu3u --params-file /tmp/launch_params_ev6qmela [0m ×2 + 13.28sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.29sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.30sINFOros2-14process has finished cleanly [pid 8724] ×2 + 13.33sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.33sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.34sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.34sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.39sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.39sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.39sINFObehavior_serverActivating + 13.39sINFObehavior_serverActivating spin + 13.39sINFObehavior_serverActivating backup + 13.39sINFObehavior_serverActivating drive_on_heading + 13.39sINFObehavior_serverActivating assisted_teleop + 13.39sINFObehavior_serverActivating wait + 13.39sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.50sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.50sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.50sINFObt_navigatorActivating + 13.57sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.67sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.67sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.68sINFOwaypoint_followerActivating + 13.68sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.78sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.78sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.78sINFOvelocity_smootherActivating + 13.78sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209543 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209543 ms (missed cycles : 3).[0m ×2 + 13.81sINFOros2_control_node[2026-09-11 01:26:56.046] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.81sINFOros2_control_node[2026-09-11 01:26:56.048] [info] Controller state will be published at 10 Hz. ×2 + 13.81sINFOros2_control_node[2026-09-11 01:26:56.050] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.88sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.88sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.88sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 13.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.13sINFOros2-21process has finished cleanly [pid 8739] ×2 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039800 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039800 ms (missed cycles : 2).[0m ×2 + 15.27sWARNros2_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 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2).[0m ×2 + 15.91sWARNros2_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 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 17.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 19.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.04sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.04sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.04sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.04sINFOobjective_server_nodecaller: ×10 + 19.04sINFOobjective_server_nodetype: 0 ×10 + 19.04sINFOobjective_server_nodename: "" ×10 + 19.04sINFOobjective_server_nodeinstance_id: "" ×10 + 19.04sINFOobjective_server_node ×10 + 19.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.08sINFOmove_groupClearing octomap...[0m ×2 + 19.08sINFOmove_groupOctomap cleared.[0m ×2 + 19.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 19.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 20.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.38sWARNros2_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 + 20.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 20.99sWARNros2_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 + 20.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.05sINFOobjective_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 + 21.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 21.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 21.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 21.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 21.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 22.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 22.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives14 pass26 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.7s | 3 errors · 298 warnings · 253 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.515ms + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269091 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269091 ms (missed cycles : 2).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.708ms + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.107ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548547 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548547 ms (missed cycles : 3).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.911ms + 2.36sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 8.096ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349158 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349158 ms (missed cycles : 2).[0m ×2 + 2.93sINFOamclParticle filter update iteration stats: 3430 particles 723 points - 6.985ms + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOjoint_trajectory_controllerGot request to cancel goal + 3.00sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.00sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.00sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.05sERRORobjective_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: 1789090233.46301222 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.47sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 4.693ms + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916244 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916244 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789090234.05796385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.185ms + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837348 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837348 ms (missed cycles : 2).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020410 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020410 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.52sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.52sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843750 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843750 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226213 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226213 ms (missed cycles : 2).[0m ×2 + 8.61sWARNros2_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 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845482 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845482 ms (missed cycles : 2).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.473ms + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440513 ms (missed cycles : 3). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440513 ms (missed cycles : 3).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.988ms + 10.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.144ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926009 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926009 ms (missed cycles : 2).[0m ×2 + 10.92sINFOamclParticle filter update iteration stats: 4652 particles 723 points - 8.211ms + 11.54sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 5.830ms + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159156 ms (missed cycles : 4). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159156 ms (missed cycles : 4).[0m ×2 + 12.16sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 3.793ms + 12.74sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 2.480ms + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386639 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386639 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760765 ms (missed cycles : 5). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760765 ms (missed cycles : 5).[0m ×2 + 13.95sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 14.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.301ms + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170353 ms (missed cycles : 4). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170353 ms (missed cycles : 4).[0m ×2 + 15.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 15.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266568 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266568 ms (missed cycles : 2).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248070 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248070 ms (missed cycles : 2).[0m ×2 + 17.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304277 ms (missed cycles : 2). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304277 ms (missed cycles : 2).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080407 ms (missed cycles : 3). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080407 ms (missed cycles : 3).[0m ×2 + 19.37sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131538 ms (missed cycles : 3). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131538 ms (missed cycles : 3).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369229 ms (missed cycles : 6). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369229 ms (missed cycles : 6).[0m ×2 + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 21.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341457 ms (missed cycles : 3). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341457 ms (missed cycles : 3).[0m ×2 + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 23.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677941 ms (missed cycles : 2). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677941 ms (missed cycles : 2).[0m ×2 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.322ms + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253420 ms (missed cycles : 4). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253420 ms (missed cycles : 4).[0m ×2 + 24.92sWARNros2_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 ×6 + 24.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804577 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804577 ms (missed cycles : 2).[0m ×2 + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364719 ms (missed cycles : 2). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364719 ms (missed cycles : 2).[0m ×2 + 26.81sWARNros2_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 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.433ms + 27.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.524ms + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016577 ms (missed cycles : 5). + 27.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016577 ms (missed cycles : 5).[0m ×2 + 28.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626963 ms (missed cycles : 4). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626963 ms (missed cycles : 4).[0m ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 29.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878177 ms (missed cycles : 5). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878177 ms (missed cycles : 5).[0m ×2 + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.306ms + 30.49sWARNros2_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 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161846 ms (missed cycles : 2). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161846 ms (missed cycles : 2).[0m ×2 + 31.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 31.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.861543 ms (missed cycles : 6). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.861543 ms (missed cycles : 6).[0m ×2 + 32.35sWARNros2_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 + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.333ms + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314447 ms (missed cycles : 3). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314447 ms (missed cycles : 3).[0m ×2 + 33.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517421 ms (missed cycles : 3). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517421 ms (missed cycles : 3).[0m ×2 + 34.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 34.90sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.90sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363057 ms (missed cycles : 4). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363057 ms (missed cycles : 4).[0m ×2 + 35.71sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967782 ms (missed cycles : 3). + 36.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967782 ms (missed cycles : 3).[0m ×2 + 36.68sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892294 ms (missed cycles : 3). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892294 ms (missed cycles : 3).[0m ×2 + 37.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110923 ms (missed cycles : 3). + 38.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110923 ms (missed cycles : 3).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678336 ms (missed cycles : 3). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678336 ms (missed cycles : 3).[0m ×2 + 39.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885079 ms (missed cycles : 2). + 40.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885079 ms (missed cycles : 2).[0m ×2 + 40.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms ×2 + 41.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107013 ms (missed cycles : 5). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107013 ms (missed cycles : 5).[0m ×2 + 42.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794279 ms (missed cycles : 3). + 42.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794279 ms (missed cycles : 3).[0m ×2 + 43.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.69 s); lidar_front (0.69 s); lidar_rear (0.69 s); wrist_camera (0.69 s). The render path has stopped producing new frames for them.[0m ×2 + 43.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.705ms + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818772 ms (missed cycles : 3). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818772 ms (missed cycles : 3).[0m ×2 + 44.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305308 ms (missed cycles : 2). + 44.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305308 ms (missed cycles : 2).[0m ×2 + 45.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219416 ms (missed cycles : 2). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219416 ms (missed cycles : 2).[0m ×2 + 46.73sWARNros2_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 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178562 ms (missed cycles : 3). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178562 ms (missed cycles : 3).[0m ×2 + 47.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840715 ms (missed cycles : 2). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840715 ms (missed cycles : 2).[0m ×2 + 48.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 48.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059934 ms (missed cycles : 3). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059934 ms (missed cycles : 3).[0m ×2 + 49.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801376 ms (missed cycles : 4). + 50.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801376 ms (missed cycles : 4).[0m ×2 + 50.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 50.86sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 51.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940746 ms (missed cycles : 3). + 51.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940746 ms (missed cycles : 3).[0m ×2 + 52.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.701110 ms (missed cycles : 5). + 52.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.701110 ms (missed cycles : 5).[0m ×2 + 52.39sWARNros2_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 + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187153 ms (missed cycles : 3). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187153 ms (missed cycles : 3).[0m ×2 + 54.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172582 ms (missed cycles : 3). + 54.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172582 ms (missed cycles : 3).[0m ×2 + 54.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 55.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226146 ms (missed cycles : 3). + 55.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226146 ms (missed cycles : 3).[0m ×2 + 56.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 56.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815697 ms (missed cycles : 2). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815697 ms (missed cycles : 2).[0m ×2 + 57.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 57.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504943 ms (missed cycles : 2). + 57.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504943 ms (missed cycles : 2).[0m ×2 + 58.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896955 ms (missed cycles : 2). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896955 ms (missed cycles : 2).[0m ×2 + 58.79sWARNros2_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 + 59.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 59.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.506291 ms (missed cycles : 6). + 59.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.506291 ms (missed cycles : 6).[0m ×2 + 60.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023370 ms (missed cycles : 2). + 60.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023370 ms (missed cycles : 2).[0m ×2 + 61.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393861 ms (missed cycles : 3). + 61.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393861 ms (missed cycles : 3).[0m ×2 + 63.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761717 ms (missed cycles : 4). + 63.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761717 ms (missed cycles : 4).[0m ×2 + 64.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043328 ms (missed cycles : 3). + 64.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043328 ms (missed cycles : 3).[0m ×2 + 64.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 65.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395583 ms (missed cycles : 4). + 65.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395583 ms (missed cycles : 4).[0m ×2 + 66.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 66.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582329 ms (missed cycles : 3). + 66.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582329 ms (missed cycles : 3).[0m ×2 + 67.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913627 ms (missed cycles : 3). + 67.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913627 ms (missed cycles : 3).[0m ×2 + 67.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 68.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228802 ms (missed cycles : 3). + 68.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228802 ms (missed cycles : 3).[0m ×2 + 68.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.723ms + 68.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789090299.20812559 seconds ×3 + 68.93sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.93sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 69.33sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.33sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 69.34sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789090299.79443216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362604 ms (missed cycles : 3). + 69.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362604 ms (missed cycles : 3).[0m ×2 + 69.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.849ms + 70.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099626 ms (missed cycles : 2). + 70.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099626 ms (missed cycles : 2).[0m ×2 + 71.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734226 ms (missed cycles : 3). + 71.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734226 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 245 warnings · 223 info |
+ 0.00sINFOamclNo-motion update requested ×15 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 1.49sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 3.24sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-0.183, 0.100) yaw -1.1 deg: 54.5% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.100 m. ×3 + 3.24sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.24sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789090310.64581013 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_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 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 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 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789090311.23603106 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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.66sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749630 ms (missed cycles : 2). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749630 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582037 ms (missed cycles : 3). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582037 ms (missed cycles : 3).[0m ×2 + 8.31sWARNros2_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 + 8.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936225 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936225 ms (missed cycles : 3).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106621 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106621 ms (missed cycles : 2).[0m ×2 + 10.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149794 ms (missed cycles : 3). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149794 ms (missed cycles : 3).[0m ×2 + 11.65sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536789 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536789 ms (missed cycles : 2).[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 12.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531815 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531815 ms (missed cycles : 2).[0m ×2 + 13.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 13.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598936 ms (missed cycles : 3). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598936 ms (missed cycles : 3).[0m ×2 + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 15.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059170 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059170 ms (missed cycles : 2).[0m ×2 + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616123 ms (missed cycles : 3). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616123 ms (missed cycles : 3).[0m ×2 + 16.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 17.10sWARNros2_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 + 17.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843906 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843906 ms (missed cycles : 3).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295711 ms (missed cycles : 2). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295711 ms (missed cycles : 2).[0m ×2 + 18.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 19.05sWARNros2_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 + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938758 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938758 ms (missed cycles : 2).[0m ×2 + 19.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 20.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646932 ms (missed cycles : 3). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646932 ms (missed cycles : 3).[0m ×2 + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381723 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381723 ms (missed cycles : 2).[0m ×2 + 22.10sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539539 ms (missed cycles : 2). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539539 ms (missed cycles : 2).[0m ×2 + 22.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184487 ms (missed cycles : 2). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184487 ms (missed cycles : 2).[0m ×2 + 24.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 24.66sWARNros2_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 + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822239 ms (missed cycles : 3). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822239 ms (missed cycles : 3).[0m ×2 + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647252 ms (missed cycles : 4). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647252 ms (missed cycles : 4).[0m ×2 + 25.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.558ms + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621011 ms (missed cycles : 2). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621011 ms (missed cycles : 2).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992201 ms (missed cycles : 4). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992201 ms (missed cycles : 4).[0m ×2 + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613433 ms (missed cycles : 4). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613433 ms (missed cycles : 4).[0m ×2 + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 29.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932170 ms (missed cycles : 3). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932170 ms (missed cycles : 3).[0m ×2 + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.958ms + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079619 ms (missed cycles : 2). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079619 ms (missed cycles : 2).[0m ×2 + 31.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704949 ms (missed cycles : 3). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704949 ms (missed cycles : 3).[0m ×2 + 32.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670829 ms (missed cycles : 3). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670829 ms (missed cycles : 3).[0m ×2 + 33.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848725 ms (missed cycles : 5). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848725 ms (missed cycles : 5).[0m ×2 + 35.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 35.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 35.08sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.576ms + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069663 ms (missed cycles : 4). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069663 ms (missed cycles : 4).[0m ×2 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923363 ms (missed cycles : 3). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923363 ms (missed cycles : 3).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488952 ms (missed cycles : 4). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488952 ms (missed cycles : 4).[0m ×2 + 38.29sWARNros2_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 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.106247 ms (missed cycles : 5). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.106247 ms (missed cycles : 5).[0m ×2 + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093667 ms (missed cycles : 3). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093667 ms (missed cycles : 3).[0m ×2 + 40.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.685205 ms (missed cycles : 5). + 40.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.685205 ms (missed cycles : 5).[0m ×2 + 41.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316078 ms (missed cycles : 2). + 41.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316078 ms (missed cycles : 2).[0m ×2 + 42.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 43.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843081 ms (missed cycles : 2). + 43.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843081 ms (missed cycles : 2).[0m ×2 + 43.31sWARNros2_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 + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287539 ms (missed cycles : 3). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287539 ms (missed cycles : 3).[0m ×2 + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018575 ms (missed cycles : 4). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018575 ms (missed cycles : 4).[0m ×2 + 46.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062452 ms (missed cycles : 2). + 46.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062452 ms (missed cycles : 2).[0m ×2 + 46.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164028 ms (missed cycles : 3). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164028 ms (missed cycles : 3).[0m ×2 + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783228 ms (missed cycles : 5). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783228 ms (missed cycles : 5).[0m ×2 + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893456 ms (missed cycles : 2). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893456 ms (missed cycles : 2).[0m ×2 + 50.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720624 ms (missed cycles : 2). + 50.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720624 ms (missed cycles : 2).[0m ×2 + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 51.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847593 ms (missed cycles : 2). + 51.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847593 ms (missed cycles : 2).[0m ×2 + 52.08sWARNros2_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 + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449497 ms (missed cycles : 3). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449497 ms (missed cycles : 3).[0m ×2 + 52.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 53.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439287 ms (missed cycles : 3). + 53.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439287 ms (missed cycles : 3).[0m ×2 + 53.96sWARNros2_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 + 54.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049042 ms (missed cycles : 3). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049042 ms (missed cycles : 3).[0m ×2 + 55.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429638 ms (missed cycles : 3). + 55.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429638 ms (missed cycles : 3).[0m ×2 + 56.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 56.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785784 ms (missed cycles : 2). + 56.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785784 ms (missed cycles : 2).[0m ×2 + 57.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029126 ms (missed cycles : 5). + 57.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029126 ms (missed cycles : 5).[0m ×2 + 59.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484211 ms (missed cycles : 3). + 59.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484211 ms (missed cycles : 3).[0m ×2 + 59.56sWARNros2_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 + 60.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464787 ms (missed cycles : 3). + 60.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464787 ms (missed cycles : 3).[0m ×2 + 60.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 60.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789090368.08615899 seconds ×3 + 60.75sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.75sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.85sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.85sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 61.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283362 ms (missed cycles : 2). + 61.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283362 ms (missed cycles : 2).[0m ×2 + 61.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.22sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789090368.67804575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.752ms + 61.68sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 62.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793032 ms (missed cycles : 2). + 62.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793032 ms (missed cycles : 2).[0m ×2 + 63.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155113 ms (missed cycles : 2). + 63.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155113 ms (missed cycles : 2).[0m ×2 + 64.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135791 ms (missed cycles : 2). + 64.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135791 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.4s | 239 warnings · 205 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985361 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985361 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542372 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542372 ms (missed cycles : 3).[0m ×2 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.21sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789090073.09640121 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073838 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073838 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789090073.67861509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.96sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.717ms + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.51sWARNros2_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 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344283 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344283 ms (missed cycles : 4).[0m ×2 + 4.14sWARNros2_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 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341036 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341036 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.66sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.66sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702186 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702186 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009674 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009674 ms (missed cycles : 2).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080955 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080955 ms (missed cycles : 2).[0m ×2 + 8.32sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 4.239ms + 8.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.88sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 3.191ms + 8.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360216 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360216 ms (missed cycles : 3).[0m ×2 + 9.44sWARNros2_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 + 9.45sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.267ms + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645749 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645749 ms (missed cycles : 3).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161493 ms (missed cycles : 4). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161493 ms (missed cycles : 4).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 11.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291347 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291347 ms (missed cycles : 2).[0m ×2 + 12.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 12.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677874 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677874 ms (missed cycles : 2).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 14.13sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141988 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141988 ms (missed cycles : 2).[0m ×2 + 14.76sWARNros2_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 + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 15.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726766 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726766 ms (missed cycles : 2).[0m ×2 + 15.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329137 ms (missed cycles : 5). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329137 ms (missed cycles : 5).[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms ×2 + 17.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332772 ms (missed cycles : 2). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332772 ms (missed cycles : 2).[0m ×2 + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396974 ms (missed cycles : 3). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396974 ms (missed cycles : 3).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.183ms + 19.68sWARNros2_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 + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.368ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635583 ms (missed cycles : 4). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635583 ms (missed cycles : 4).[0m ×2 + 20.33sWARNros2_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 + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519210 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519210 ms (missed cycles : 2).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.025ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620494 ms (missed cycles : 5). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620494 ms (missed cycles : 5).[0m ×2 + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334061 ms (missed cycles : 3). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334061 ms (missed cycles : 3).[0m ×2 + 23.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752316 ms (missed cycles : 4). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752316 ms (missed cycles : 4).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 24.68sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906042 ms (missed cycles : 3). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906042 ms (missed cycles : 3).[0m ×2 + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 25.89sWARNros2_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 + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892857 ms (missed cycles : 4). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892857 ms (missed cycles : 4).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298949 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298949 ms (missed cycles : 2).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960865 ms (missed cycles : 4). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960865 ms (missed cycles : 4).[0m ×2 + 28.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 29.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793287 ms (missed cycles : 2). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793287 ms (missed cycles : 2).[0m ×2 + 29.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 30.13sWARNros2_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 + 30.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007353 ms (missed cycles : 2). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007353 ms (missed cycles : 2).[0m ×2 + 30.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395922 ms (missed cycles : 2). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395922 ms (missed cycles : 2).[0m ×2 + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816615 ms (missed cycles : 3). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816615 ms (missed cycles : 3).[0m ×2 + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021538 ms (missed cycles : 3). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021538 ms (missed cycles : 3).[0m ×2 + 33.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 34.07sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646194 ms (missed cycles : 3). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646194 ms (missed cycles : 3).[0m ×2 + 35.14sWARNros2_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 ×2 + 36.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811073 ms (missed cycles : 4). + 36.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811073 ms (missed cycles : 4).[0m ×2 + 36.39sWARNros2_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 + 37.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701219 ms (missed cycles : 4). + 37.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701219 ms (missed cycles : 4).[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665063 ms (missed cycles : 3). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665063 ms (missed cycles : 3).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951487 ms (missed cycles : 3). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951487 ms (missed cycles : 3).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592637 ms (missed cycles : 2). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592637 ms (missed cycles : 2).[0m ×2 + 40.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929495 ms (missed cycles : 3). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929495 ms (missed cycles : 3).[0m ×2 + 41.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 42.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201200 ms (missed cycles : 2). + 42.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201200 ms (missed cycles : 2).[0m ×2 + 43.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200980 ms (missed cycles : 3). + 43.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200980 ms (missed cycles : 3).[0m ×2 + 44.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211573 ms (missed cycles : 2). + 44.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211573 ms (missed cycles : 2).[0m ×2 + 45.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300368 ms (missed cycles : 4). + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300368 ms (missed cycles : 4).[0m ×2 + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711311 ms (missed cycles : 3). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711311 ms (missed cycles : 3).[0m ×2 + 47.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931521 ms (missed cycles : 3). + 47.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931521 ms (missed cycles : 3).[0m ×2 + 48.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336092 ms (missed cycles : 3). + 48.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336092 ms (missed cycles : 3).[0m ×2 + 48.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 49.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606564 ms (missed cycles : 2). + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606564 ms (missed cycles : 2).[0m ×2 + 50.81sWARNros2_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 + 50.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042837 ms (missed cycles : 4). + 50.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042837 ms (missed cycles : 4).[0m ×2 + 51.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.806ms + 51.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869534 ms (missed cycles : 2). + 51.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869534 ms (missed cycles : 2).[0m ×2 + 52.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302745 ms (missed cycles : 2). + 52.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302745 ms (missed cycles : 2).[0m ×2 + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964945 ms (missed cycles : 2). + 54.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964945 ms (missed cycles : 2).[0m ×2 + 55.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300576 ms (missed cycles : 4). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300576 ms (missed cycles : 4).[0m ×2 + 55.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 56.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170721 ms (missed cycles : 3). + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170721 ms (missed cycles : 3).[0m ×2 + 57.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4). + 57.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4).[0m ×2 + 58.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4). + 58.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4).[0m ×2 + 59.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 59.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4). + 59.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4).[0m ×2 + 59.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789090130.51875186 seconds ×3 + 59.80sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.80sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.10sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.10sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.27sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789090131.11393189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3). + 60.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3).[0m ×2 + 60.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.380ms + 60.76sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 61.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4). + 61.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4).[0m ×2 + 61.69sWARNros2_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 + 62.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3). + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.6s | 237 warnings · 218 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319691 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319691 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038717 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038717 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300740 ms (missed cycles : 4). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300740 ms (missed cycles : 4).[0m ×2 + 2.76sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.76sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789090169.89419317 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNlocal_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. ×5 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789090170.48480940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.607ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786628 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786628 ms (missed cycles : 3).[0m ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666176 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666176 ms (missed cycles : 3).[0m ×2 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.70 s); lidar_front (0.70 s); lidar_rear (0.70 s); wrist_camera (0.70 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866172 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866172 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.02sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.02sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.03sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948642 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948642 ms (missed cycles : 2).[0m ×2 + 7.80sWARNros2_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 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914258 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914258 ms (missed cycles : 2).[0m ×2 + 8.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157252 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157252 ms (missed cycles : 2).[0m ×2 + 9.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.119ms + 9.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.654ms + 10.23sWARNros2_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 + 10.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.397ms + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723257 ms (missed cycles : 3). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723257 ms (missed cycles : 3).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.115ms + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302854 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302854 ms (missed cycles : 2).[0m ×2 + 11.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.783ms + 11.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.564ms + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975449 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975449 ms (missed cycles : 3).[0m ×2 + 12.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.991ms + 13.13sWARNros2_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 + 13.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.093ms + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726746 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726746 ms (missed cycles : 2).[0m ×2 + 13.74sINFOamclParticle filter update iteration stats: 2763 particles 723 points - 6.124ms + 14.38sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 3.385ms + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123179 ms (missed cycles : 4). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123179 ms (missed cycles : 4).[0m ×2 + 14.95sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.778ms + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308269 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308269 ms (missed cycles : 2).[0m ×2 + 15.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 16.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.529ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628725 ms (missed cycles : 4). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628725 ms (missed cycles : 4).[0m ×2 + 16.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.125ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658307 ms (missed cycles : 3). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658307 ms (missed cycles : 3).[0m ×2 + 18.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 18.71sWARNros2_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 ×4 + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992962 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992962 ms (missed cycles : 2).[0m ×2 + 19.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879502 ms (missed cycles : 3). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879502 ms (missed cycles : 3).[0m ×2 + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860437 ms (missed cycles : 2). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860437 ms (missed cycles : 2).[0m ×2 + 21.13sWARNros2_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 + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121197 ms (missed cycles : 5). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121197 ms (missed cycles : 5).[0m ×2 + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.911ms + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492165 ms (missed cycles : 4). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492165 ms (missed cycles : 4).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000184 ms (missed cycles : 2). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000184 ms (missed cycles : 2).[0m ×2 + 24.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987276 ms (missed cycles : 3). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987276 ms (missed cycles : 3).[0m ×2 + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 26.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191554 ms (missed cycles : 2). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191554 ms (missed cycles : 2).[0m ×2 + 26.77sWARNros2_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 + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283089 ms (missed cycles : 2). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283089 ms (missed cycles : 2).[0m ×2 + 27.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 28.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226041 ms (missed cycles : 5). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226041 ms (missed cycles : 5).[0m ×2 + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 29.37sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775410 ms (missed cycles : 2). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775410 ms (missed cycles : 2).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147194 ms (missed cycles : 4). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147194 ms (missed cycles : 4).[0m ×2 + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987322 ms (missed cycles : 4). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987322 ms (missed cycles : 4).[0m ×2 + 31.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 31.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 32.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 32.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270448 ms (missed cycles : 2). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270448 ms (missed cycles : 2).[0m ×2 + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.089ms + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308326 ms (missed cycles : 2). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308326 ms (missed cycles : 2).[0m ×2 + 34.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 34.93sWARNros2_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 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480337 ms (missed cycles : 3). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480337 ms (missed cycles : 3).[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387976 ms (missed cycles : 3). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387976 ms (missed cycles : 3).[0m ×2 + 36.90sWARNros2_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 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736369 ms (missed cycles : 5). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736369 ms (missed cycles : 5).[0m ×2 + 37.76sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227253 ms (missed cycles : 4). + 38.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227253 ms (missed cycles : 4).[0m ×2 + 38.69sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 39.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523963 ms (missed cycles : 5). + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523963 ms (missed cycles : 5).[0m ×2 + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941336 ms (missed cycles : 3). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941336 ms (missed cycles : 3).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 41.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013510 ms (missed cycles : 5). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013510 ms (missed cycles : 5).[0m ×2 + 41.94sWARNros2_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 + 41.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972676 ms (missed cycles : 2). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972676 ms (missed cycles : 2).[0m ×2 + 42.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 43.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.945ms + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493032 ms (missed cycles : 6). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493032 ms (missed cycles : 6).[0m ×2 + 43.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms ×2 + 44.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.549511 ms (missed cycles : 6). + 44.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.549511 ms (missed cycles : 6).[0m ×2 + 45.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 45.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877930 ms (missed cycles : 3). + 45.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877930 ms (missed cycles : 3).[0m ×2 + 46.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367778 ms (missed cycles : 2). + 46.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367778 ms (missed cycles : 2).[0m ×2 + 46.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598889 ms (missed cycles : 4). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598889 ms (missed cycles : 4).[0m ×2 + 48.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980135 ms (missed cycles : 3). + 48.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980135 ms (missed cycles : 3).[0m ×2 + 48.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 49.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.701ms + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234727 ms (missed cycles : 5). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234727 ms (missed cycles : 5).[0m ×2 + 50.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 50.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815590 ms (missed cycles : 2). + 50.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815590 ms (missed cycles : 2).[0m ×2 + 51.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.041ms + 52.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156210 ms (missed cycles : 4). + 52.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156210 ms (missed cycles : 4).[0m ×2 + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525333 ms (missed cycles : 4). + 53.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525333 ms (missed cycles : 4).[0m ×2 + 54.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110097 ms (missed cycles : 2). + 54.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110097 ms (missed cycles : 2).[0m ×2 + 54.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 55.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569563 ms (missed cycles : 3). + 55.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569563 ms (missed cycles : 3).[0m ×2 + 55.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789090222.46495032 seconds ×3 + 55.45sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.45sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 11.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.55sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.55sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 55.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.92sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.96sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789090223.05986524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.10sWARNros2_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 + 56.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.755ms + 56.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942785 ms (missed cycles : 3). + 56.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942785 ms (missed cycles : 3).[0m ×2 + 56.45sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 57.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084116 ms (missed cycles : 2). + 57.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084116 ms (missed cycles : 2).[0m ×2 + 58.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×2 + 58.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072117 ms (missed cycles : 3). + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072117 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 181 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.02sINFOobjective_server_nodecaller: ×12 + 1.02sINFOobjective_server_nodetype: 0 ×12 + 1.02sINFOobjective_server_nodename: "" ×12 + 1.02sINFOobjective_server_nodeinstance_id: "" ×12 + 1.02sINFOobjective_server_node ×12 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.06sINFOmove_groupClearing octomap...[0m ×2 + 1.06sINFOmove_groupOctomap cleared.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 1.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×6 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_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 + 3.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.66sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358938 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358938 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864410 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864410 ms (missed cycles : 3).[0m ×2 + 7.58sWARNros2_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 ×6 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431315 ms (missed cycles : 3). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431315 ms (missed cycles : 3).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718367 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718367 ms (missed cycles : 3).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515723 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515723 ms (missed cycles : 2).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781892 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781892 ms (missed cycles : 2).[0m ×2 + 12.74sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100020 ms (missed cycles : 4). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100020 ms (missed cycles : 4).[0m ×2 + 13.32sWARNros2_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 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530087 ms (missed cycles : 3). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530087 ms (missed cycles : 3).[0m ×2 + 14.54sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.272ms + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651160 ms (missed cycles : 3). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651160 ms (missed cycles : 3).[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376103 ms (missed cycles : 3). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376103 ms (missed cycles : 3).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089457 ms (missed cycles : 4). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089457 ms (missed cycles : 4).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601645 ms (missed cycles : 2). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601645 ms (missed cycles : 2).[0m ×2 + 18.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967332 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967332 ms (missed cycles : 2).[0m ×2 + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923793 ms (missed cycles : 2). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923793 ms (missed cycles : 2).[0m ×2 + 21.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856375 ms (missed cycles : 2). + 21.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856375 ms (missed cycles : 2).[0m ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916979 ms (missed cycles : 2). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916979 ms (missed cycles : 2).[0m ×2 + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511101 ms (missed cycles : 3). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511101 ms (missed cycles : 3).[0m ×2 + 23.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×6 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963752 ms (missed cycles : 3). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963752 ms (missed cycles : 3).[0m ×2 + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187648 ms (missed cycles : 4). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187648 ms (missed cycles : 4).[0m ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708618 ms (missed cycles : 3). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708618 ms (missed cycles : 3).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516971 ms (missed cycles : 3). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516971 ms (missed cycles : 3).[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501276 ms (missed cycles : 2). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501276 ms (missed cycles : 2).[0m ×2 + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814703 ms (missed cycles : 3). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814703 ms (missed cycles : 3).[0m ×2 + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988061 ms (missed cycles : 3). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988061 ms (missed cycles : 3).[0m ×2 + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883824 ms (missed cycles : 2). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883824 ms (missed cycles : 2).[0m ×2 + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991580 ms (missed cycles : 2). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991580 ms (missed cycles : 2).[0m ×2 + 33.45sWARNros2_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 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726815 ms (missed cycles : 2). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726815 ms (missed cycles : 2).[0m ×2 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182838 ms (missed cycles : 2). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182838 ms (missed cycles : 2).[0m ×2 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570188 ms (missed cycles : 3). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570188 ms (missed cycles : 3).[0m ×2 + 37.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241152 ms (missed cycles : 4). + 37.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241152 ms (missed cycles : 4).[0m ×2 + 38.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751145 ms (missed cycles : 2). + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751145 ms (missed cycles : 2).[0m ×2 + 38.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 39.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041544 ms (missed cycles : 3). + 39.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041544 ms (missed cycles : 3).[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462518 ms (missed cycles : 3). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462518 ms (missed cycles : 3).[0m ×2 + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751353 ms (missed cycles : 2). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751353 ms (missed cycles : 2).[0m ×2 + 42.62sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 2.304ms + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516450 ms (missed cycles : 3). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516450 ms (missed cycles : 3).[0m ×2 + 44.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230841 ms (missed cycles : 2). + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230841 ms (missed cycles : 2).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942121 ms (missed cycles : 2). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942121 ms (missed cycles : 2).[0m ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839597 ms (missed cycles : 4). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839597 ms (missed cycles : 4).[0m ×2 + 46.70sINFOjoint_trajectory_controllerGoal reached, success! + 46.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789090066.96937799 seconds ×3 + 46.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.26sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.30sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789090067.55627608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544056 ms (missed cycles : 3). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544056 ms (missed cycles : 3).[0m ×2 + 47.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 48.39sINFOobjective_server_nodeFound path in 0 iterations (2.7312e-05 s). ×2 + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823000 ms (missed cycles : 3). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823000 ms (missed cycles : 3).[0m ×2 + 48.45sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044365 ms (missed cycles : 4). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044365 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.8s | 150 warnings · 183 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959982 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959982 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137979 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137979 ms (missed cycles : 2).[0m ×2 + 1.52sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.52sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.56sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789090137.10407305 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443894 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443894 ms (missed cycles : 3).[0m ×2 + 2.17sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116744 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116744 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_node ×4 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789090138.69404507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275110 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275110 ms (missed cycles : 2).[0m ×2 + 4.25sINFOros2_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 2.170069 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170069 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303728 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303728 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314025 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314025 ms (missed cycles : 2).[0m ×2 + 7.34sWARNros2_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 + 8.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.549ms + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229363 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229363 ms (missed cycles : 2).[0m ×2 + 9.03sWARNros2_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 + 9.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.968ms + 9.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.891ms + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649308 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649308 ms (missed cycles : 2).[0m ×2 + 10.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.834ms + 10.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050274 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050274 ms (missed cycles : 3).[0m ×2 + 11.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.721ms + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959110 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959110 ms (missed cycles : 2).[0m ×2 + 12.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.418ms + 12.60sWARNros2_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 + 12.63sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 6.734ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911577 ms (missed cycles : 5). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911577 ms (missed cycles : 5).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 4.604ms + 13.79sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.487ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081961 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081961 ms (missed cycles : 2).[0m ×2 + 14.38sWARNros2_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 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625738 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625738 ms (missed cycles : 3).[0m ×2 + 15.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002077 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002077 ms (missed cycles : 3).[0m ×2 + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082729 ms (missed cycles : 5). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082729 ms (missed cycles : 5).[0m ×2 + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 17.93sWARNros2_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 + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081432 ms (missed cycles : 2). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081432 ms (missed cycles : 2).[0m ×2 + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 19.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694311 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694311 ms (missed cycles : 3).[0m ×2 + 19.77sWARNros2_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 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823550 ms (missed cycles : 2). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823550 ms (missed cycles : 2).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 21.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817758 ms (missed cycles : 2). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817758 ms (missed cycles : 2).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466562 ms (missed cycles : 2). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466562 ms (missed cycles : 2).[0m ×2 + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.827ms + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970844 ms (missed cycles : 2). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970844 ms (missed cycles : 2).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667219 ms (missed cycles : 5). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667219 ms (missed cycles : 5).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.135ms + 25.39sWARNros2_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 + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606453 ms (missed cycles : 3). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606453 ms (missed cycles : 3).[0m ×2 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915894 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915894 ms (missed cycles : 2).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306271 ms (missed cycles : 4). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306271 ms (missed cycles : 4).[0m ×2 + 27.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 28.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364297 ms (missed cycles : 4). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364297 ms (missed cycles : 4).[0m ×2 + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 29.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263629 ms (missed cycles : 2). + 29.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263629 ms (missed cycles : 2).[0m ×2 + 30.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900517 ms (missed cycles : 2). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900517 ms (missed cycles : 2).[0m ×2 + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 31.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 31.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319691 ms (missed cycles : 3). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319691 ms (missed cycles : 3).[0m ×2 + 32.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038717 ms (missed cycles : 2). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038717 ms (missed cycles : 2).[0m ×2 + 33.99sWARNros2_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 + 34.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300740 ms (missed cycles : 4). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300740 ms (missed cycles : 4).[0m ×2 + 34.35sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789090169.89419317 seconds ×3 + 34.51sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.51sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.71sWARNlocal_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. ×5 + 34.71sWARNlocal_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. ×5 + 34.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.90sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789090170.48480940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.607ms + 35.34sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786628 ms (missed cycles : 3). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786628 ms (missed cycles : 3).[0m ×2 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666176 ms (missed cycles : 3). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666176 ms (missed cycles : 3).[0m ×2 + 36.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.70 s); lidar_front (0.70 s); lidar_rear (0.70 s); wrist_camera (0.70 s). The render path has stopped producing new frames for them.[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866172 ms (missed cycles : 4). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866172 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.6s | 98 warnings · 240 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029126 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029126 ms (missed cycles : 5).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484211 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484211 ms (missed cycles : 3).[0m ×2 + 1.68sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464787 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464787 ms (missed cycles : 3).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 2.75sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.75sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789090368.08615899 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283362 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283362 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789090368.67804575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.752ms + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793032 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793032 ms (missed cycles : 2).[0m ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155113 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155113 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135791 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135791 ms (missed cycles : 2).[0m ×2 + 7.00sWARNros2_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 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705095 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705095 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102857 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102857 ms (missed cycles : 3).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844090 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844090 ms (missed cycles : 3).[0m ×2 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 9.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.93sWARNros2_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 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 10.05sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 10.23sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.61sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728562 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728562 ms (missed cycles : 3).[0m ×2 + 11.05sINFOobjective_server_nodeFound path in 33 iterations (0.0351664 s). ×2 + 11.58sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.65sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079558 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079558 ms (missed cycles : 2).[0m ×2 + 12.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.36sWARNros2_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 + 12.41sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784950 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784950 ms (missed cycles : 2).[0m ×2 + 13.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.43sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090944 ms (missed cycles : 4). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090944 ms (missed cycles : 4).[0m ×2 + 14.53sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122195 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122195 ms (missed cycles : 3).[0m ×2 + 15.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 15.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.392ms + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699982 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699982 ms (missed cycles : 3).[0m ×2 + 17.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.523ms + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277178 ms (missed cycles : 4). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277178 ms (missed cycles : 4).[0m ×2 + 17.59sWARNros2_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 + 17.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.500ms + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827098 ms (missed cycles : 2). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827098 ms (missed cycles : 2).[0m ×2 + 18.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 19.43sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789090384.71655917 seconds ×3 + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618234 ms (missed cycles : 2). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618234 ms (missed cycles : 2).[0m ×2 + 19.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.97sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090385.33168149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.05sINFOmove_groupClearing octomap...[0m ×2 + 20.05sINFOmove_groupOctomap cleared.[0m ×2 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432428 ms (missed cycles : 2). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432428 ms (missed cycles : 2).[0m ×2 + 20.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.717ms + 20.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090386.23422647 seconds ×3 + 21.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.49sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090386.81994295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477384 ms (missed cycles : 3). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477384 ms (missed cycles : 3).[0m ×2 + 22.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789090387.38007307 seconds ×3 + 22.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959531 ms (missed cycles : 2). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959531 ms (missed cycles : 2).[0m ×2 + 22.87sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 99 warnings · 156 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525333 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525333 ms (missed cycles : 4).[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110097 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110097 ms (missed cycles : 2).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569563 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569563 ms (missed cycles : 3).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789090222.46495032 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 11.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789090223.05986524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sWARNros2_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 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.755ms + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942785 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942785 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084116 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084116 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072117 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072117 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.43sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.43sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191112 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191112 ms (missed cycles : 2).[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439122 ms (missed cycles : 2). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439122 ms (missed cycles : 2).[0m ×2 + 9.12sWARNros2_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 + 9.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.211ms + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321992 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321992 ms (missed cycles : 2).[0m ×2 + 9.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.132ms + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.589ms + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658768 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658768 ms (missed cycles : 2).[0m ×2 + 10.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.515ms + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269091 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269091 ms (missed cycles : 2).[0m ×2 + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.708ms + 12.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.107ms + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548547 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548547 ms (missed cycles : 3).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.911ms + 13.20sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 8.096ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349158 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349158 ms (missed cycles : 2).[0m ×2 + 13.77sINFOamclParticle filter update iteration stats: 3430 particles 723 points - 6.985ms + 13.83sINFOobjective_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 + 13.84sINFOjoint_trajectory_controllerGot request to cancel goal + 13.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.84sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.88sERRORobjective_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: 1789090233.46301222 seconds ×3 + 13.97sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.97sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.34sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 4.693ms + 14.37sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.37sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916244 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916244 ms (missed cycles : 3).[0m ×2 + 14.47sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789090234.05796385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.185ms + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837348 ms (missed cycles : 2). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837348 ms (missed cycles : 2).[0m ×2 + 16.04sWARNros2_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 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020410 ms (missed cycles : 3). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020410 ms (missed cycles : 3).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843750 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843750 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 102 errors · 38 warnings · 515 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827098 ms (missed cycles : 2).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 0.94sINFOjoint_trajectory_controllerGoal reached, success! + 0.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789090384.71655917 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618234 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618234 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.51sINFOobjective_server_nodecaller: ×4 + 1.51sINFOobjective_server_nodetype: 0 ×4 + 1.51sINFOobjective_server_nodename: "" ×4 + 1.51sINFOobjective_server_nodeinstance_id: "" ×4 + 1.51sINFOobjective_server_node ×4 + 1.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090385.33168149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.59sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432428 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432428 ms (missed cycles : 2).[0m ×2 + 2.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.717ms + 2.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090386.23422647 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090386.81994295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477384 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477384 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789090387.38007307 seconds ×3 + 3.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959531 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959531 ms (missed cycles : 2).[0m ×2 + 4.41sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510117 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510117 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846984 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846984 ms (missed cycles : 2).[0m ×2 + 7.13sWARNros2_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 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611665 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611665 ms (missed cycles : 3).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210838 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210838 ms (missed cycles : 2).[0m ×2 + 9.37sWARNros2_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 + 9.41sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.41sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.41sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.41sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.41sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.41sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.42sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.42sERRORweb_video_auth_proxy-38process has died [pid 8818, 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 + 9.42sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.43sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.43sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.44sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORweb_bridge_auth_proxy-37process has died [pid 8813, 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 + 9.44sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.44sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.45sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 9.47sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 9.48sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 9.49sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853235 ms (missed cycles : 3). + 9.50sINFOvideo_server-36process has finished cleanly [pid 8807] ×2 + 9.50sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 9.51sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 9.52sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 9.53sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 9.53sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 9.54sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 9.56sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 9.57sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 9.58sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 9.59sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 9.60sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 9.60sINFOcontroller_managerShutdown request received.... + 9.60sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.60sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.60sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.61sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.61sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.61sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.61sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.61sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.61sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.61sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.61sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.61sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.61sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.61sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.61sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.61sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.61sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.61sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.61sINFOcontroller_managerShutting down the controller manager. + 9.61sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 9.62sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 9.64sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 9.74sERRORmove_group-24process has died [pid 8751, 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_wds_oa_a --params-file /tmp/launch_params_b7ria729 --params-file /tmp/launch_params_du7vidyv --params-file /tmp/launch_params_s4adwmh4 --params-file /tmp/launch_params_4d_p2rhr --params-file /tmp/launch_params_lc5t555p']. ×2 + 9.74sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 9.75sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 9.76sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 9.77sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 9.78sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 9.79sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 9.80sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 9.80sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 9.80sINFOmap_serverDeactivating + 9.80sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 9.80sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 9.80sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 9.80sINFOcontroller_serverDeactivating + 9.81sINFOlocal_costmap.local_costmapDeactivating + 9.81sINFOvideo_server2026/09/11 01:33:13 INF shutting down gracefully ×2 + 9.81sINFOvideo_server2026/09/11 01:33:13 INF [WebRTC] closing ×2 + 9.81sINFOvideo_server2026/09/11 01:33:13 INF [RTSP] closing ×2 + 9.81sINFOvideo_server2026/09/11 01:33:13 INF waiting for running hooks ×2 + 9.81sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sINFOmap_serverCleaning up + 9.81sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 9.81sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853235 ms (missed cycles : 3).[0m ×2 + 9.81sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.81sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.81sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 9.81sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.81sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.81sERRORmove_groupStack trace (most recent call last) in thread 9426: ×2 + 9.81sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.81sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc885423a63, in __clone ×2 + 9.81sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc885396aa3, in ×2 + 9.81sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc885628db3, in ×2 + 9.81sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fc885d8cb34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.81sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc8859ba620, in rclcpp::Rate::sleep() ×2 + 9.81sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc8858fcd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.81sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc8858be087, in ×2 + 9.81sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc8855f7390, in __cxa_throw ×2 + 9.81sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc8855e1a54, in std::terminate() ×2 + 9.81sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc8855f70d9, in ×2 + 9.81sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc8855e1ff4, in ×2 + 9.81sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8853228fe, in abort ×2 + 9.81sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc88533f27d, in raise ×2 + 9.81sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc885398b2c, in pthread_kill ×2 + 9.81sERRORmove_groupAborted (Signal sent by tkill() 8751 0) ×2 + 9.81sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.81sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.81sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.81sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 9.81sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 9.81sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 9.81sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.82sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.82sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.82sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.82sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.82sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.82sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 9.82sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 9.82sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.82sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 9.82sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 9.82sINFOodom_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 + 9.82sINFOodom_qos_relay.pymain() ×2 + 9.82sINFOodom_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 + 9.82sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 9.82sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 9.82sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 9.82sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 9.82sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 9.82sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 9.82sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 9.82sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.82sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 9.82sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 9.82sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 9.82sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 9.82sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 9.82sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 9.82sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.82sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 9.82sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 9.83sERRORamclThe bond connection to the lifecycle manager has been broken + 9.90sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 9.91sINFOcontroller_serverCleaning up + 9.91sINFOlocal_costmap.local_costmapCleaning up + 9.96sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 9.96sINFOsmoother_serverDeactivating + 9.96sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 9.97sINFOsmoother_serverCleaning up + 9.98sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 9.98sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 9.98sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 9.98sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 9.98sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 9.98sINFOvelocity_smootherDeactivating + 9.98sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 9.99sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 9.99sINFOplanner_serverDeactivating + 9.99sINFOglobal_costmap.global_costmapDeactivating + 10.09sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.09sINFOwaypoint_followerDeactivating + 10.09sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.21sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.21sINFObt_navigatorDeactivating + 10.21sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.32sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.32sINFObehavior_serverDeactivating + 10.32sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.43sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.43sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.43sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 10.43sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.43sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.43sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.43sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.44sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.44sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.44sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.44sINFOvelocity_smootherCleaning up + 10.44sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.44sINFOwaypoint_followerCleaning up + 10.47sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.47sINFObt_navigatorCleaning up + 10.53sINFOtf2_web_republisher_node-35process has finished cleanly [pid 8802] ×2 + 10.53sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 10.61sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 8788] ×2 + 10.62sINFOui_teleop_bridge-33process has finished cleanly [pid 8797] ×2 + 10.62sINFOmove_joint_resampler_node-27process has finished cleanly [pid 8787] ×2 + 10.63sINFOexecute_objective_bridge-32process has finished cleanly [pid 8794] ×2 + 10.64sINFOcomponent_container_mt-31process has finished cleanly [pid 8793] ×2 + 10.65sINFObt_navigatorCompleted Cleaning up + 10.65sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.65sINFObehavior_serverCleaning up + 10.66sINFOparameter_manager_node-25process has finished cleanly [pid 8785] ×2 + 10.67sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 8721] ×2 + 10.67sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8720] ×2 + 10.68sINFOwaypoint_manager_node-26process has finished cleanly [pid 8786] ×2 + 10.68sINFOstatic_transform_publisher-9process has finished cleanly [pid 8638] ×2 + 10.71sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.71sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.71sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.71sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.71sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.71sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.71sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 10.73sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.73sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.73sINFOobjective_server_node[2026-09-11 01:33:14.474] [moveit_pro_license] [critical] ×2 + 10.73sINFOobjective_server_node************************************************* ×4 + 10.73sINFOobjective_server_node* MoveIt Pro License ×2 + 10.73sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 10.74sINFOplanner_serverCleaning up + 10.75sINFOglobal_costmap.global_costmapCleaning up + 10.76sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.76sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.79sINFOstatic_transform_publisher-8process has finished cleanly [pid 8637] ×2 + 10.80sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 10.80sINFOlidar_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 + 10.80sINFOlidar_flattener.pymain() ×2 + 10.80sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.80sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.80sINFOlidar_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 + 10.80sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.80sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.80sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 10.80sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.80sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 10.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.80sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 10.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.80sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.80sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.80sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 10.80sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.80sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 10.80sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 10.80sINFOobjective_server_node_main-29process has finished cleanly [pid 8789] ×2 + 10.80sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 10.82sINFOstatic_transform_publisher-4process has finished cleanly [pid 8633] ×2 + 10.83sINFOstatic_transform_publisher-3process has finished cleanly [pid 8632] ×2 + 10.86sERRORlidar_flattener.py-7process has died [pid 8636, 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_1wuqa4df']. ×2 + 10.87sERRORodom_qos_relay.py-5process has died [pid 8634, 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 + 10.88sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 8635] ×2 + 11.12sERRORcomponent_container_isolated-1process has died [pid 8630, 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_6tesrrh7 --params-file /tmp/launch_params_cca95sr4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.14sERRORcomponent_container_isolated-2process has died [pid 8631, 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_6tesrrh7 --params-file /tmp/launch_params_hvev7_wv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.73sINFOcomponent_container_mt-30process has finished cleanly [pid 8792] ×2 + 12.27sINFOweb_bridge-34process has finished cleanly [pid 8801] ×2 + 12.28sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 12.35sINFOros2_control_node-12process has finished cleanly [pid 8722] ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.6s | 68 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789090130.51875186 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789090131.11393189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.380ms + 3.52sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4).[0m ×2 + 4.46sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3).[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030812 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030812 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959982 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959982 ms (missed cycles : 3).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137979 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137979 ms (missed cycles : 2).[0m ×2 + 9.02sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789090137.10407305 seconds ×3 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443894 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443894 ms (missed cycles : 3).[0m ×2 + 9.63sWARNros2_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 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116744 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116744 ms (missed cycles : 4).[0m ×2 + 10.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.57sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789090138.69404507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.00sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 11.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275110 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275110 ms (missed cycles : 2).[0m ×2 + 11.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170069 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170069 ms (missed cycles : 2).[0m ×2 + 13.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303728 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303728 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 69 warnings · 221 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582329 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582329 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913627 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913627 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 1.82sWARNros2_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 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228802 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228802 ms (missed cycles : 3).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.723ms + 2.60sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.60sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789090299.20812559 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789090299.79443216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362604 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362604 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOjoint_trajectory_controllerReceived new action goal + 3.66sINFOjoint_trajectory_controllerAccepted new action goal + 3.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.68sWARNros2_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 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.849ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099626 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099626 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734226 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734226 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912806 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912806 ms (missed cycles : 4).[0m ×2 + 7.27sWARNros2_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 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827779 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827779 ms (missed cycles : 3).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455332 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455332 ms (missed cycles : 2).[0m ×2 + 8.95sWARNros2_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 + 9.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789090305.67456484 seconds ×3 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866843 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866843 ms (missed cycles : 2).[0m ×2 + 9.61sINFOobjective_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: ""
+ 9.61sINFOobjective_server_nodeobjective_name: "Refine Localization In Place" ×2 + 9.61sINFOobjective_server_nodeparameter_overrides: ×2 + 9.61sINFOobjective_server_node- ×2 + 9.61sINFOobjective_server_nodedescription: ×2 + 9.61sINFOobjective_server_nodename: "min_inlier_fraction" ×2 + 9.61sINFOobjective_server_nodetype: 2 ×2 + 9.61sINFOobjective_server_nodestring_value: "-1.0" ×2 + 9.61sINFOobjective_server_nodepose_value: ×2 + 9.61sINFOobjective_server_nodeheader: ×4 + 9.61sINFOobjective_server_nodestamp: ×4 + 9.61sINFOobjective_server_nodesec: 0 ×4 + 9.61sINFOobjective_server_nodenanosec: 0 ×4 + 9.61sINFOobjective_server_nodeframe_id: "" ×4 + 9.61sINFOobjective_server_nodepose: ×2 + 9.61sINFOobjective_server_nodeposition: ×2 + 9.61sINFOobjective_server_nodex: 0.00000 ×4 + 9.61sINFOobjective_server_nodey: 0.00000 ×4 + 9.61sINFOobjective_server_nodez: 0.00000 ×4 + 9.61sINFOobjective_server_nodeorientation: ×2 + 9.61sINFOobjective_server_nodew: 1.00000 ×2 + 9.61sINFOobjective_server_nodedouble_value: 0.00000 ×2 + 9.61sINFOobjective_server_nodeint_value: 0 ×2 + 9.61sINFOobjective_server_nodebool_value: false ×2 + 9.61sINFOobjective_server_nodejoint_state_value: ×2 + 9.61sINFOobjective_server_nodename: [] ×2 + 9.61sINFOobjective_server_nodeposition: [] ×2 + 9.61sINFOobjective_server_nodevelocity: [] ×2 + 9.61sINFOobjective_server_nodeeffort: [] ×2 + 9.61sINFOobjective_server_nodebehavior_namespaces: ×2 + 9.61sINFOobjective_server_node- "Tighten the estimate without moving" ×2 + 9.65sINFOobjective_server_nodeObjective `Refine Localization In Place` starting at time: 1789090306.26301861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.66sINFOamclInitializing particles from estimated pose and covariance + 9.66sINFOobjective_server_nodeSeed the filter at the clicked pose Info: Seeded localization at (-0.453, 0.682) yaw -3.5 deg, spread 0.50 m / 14.9 deg. ×3 + 9.66sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.452802, y=0.682056, yaw=-0.0607812 + 9.97sINFOamclNo-motion update requested ×17 + 10.08sINFOamclParticle filter update iteration stats: 1967 particles 723 points - 5.166ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714294 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714294 ms (missed cycles : 2).[0m ×2 + 10.65sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 4.069ms + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 11.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 12.28sWARNros2_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 + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 48 warnings · 144 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230841 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230841 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942121 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942121 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839597 ms (missed cycles : 4). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839597 ms (missed cycles : 4).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.94sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789090066.96937799 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789090067.55627608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544056 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544056 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.7312e-05 s). ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823000 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823000 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.11sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.67sWARNros2_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 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044365 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044365 ms (missed cycles : 4).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985361 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985361 ms (missed cycles : 3).[0m ×2 + 7.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 8.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542372 ms (missed cycles : 3). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542372 ms (missed cycles : 3).[0m ×2 + 8.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 9.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789090073.09640121 seconds ×3 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073838 ms (missed cycles : 3). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073838 ms (missed cycles : 3).[0m ×2 + 9.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.62sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789090073.67861509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.79sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.717ms + 10.05sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 10.35sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344283 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344283 ms (missed cycles : 4).[0m ×2 + 10.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341036 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341036 ms (missed cycles : 3).[0m ×2 + 12.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702186 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702186 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Refine Localization In Place | refine_localization_in_place.xml | 5.0s | 43 warnings · 229 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912806 ms (missed cycles : 4).[0m ×2 + 0.86sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827779 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827779 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455332 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455332 ms (missed cycles : 2).[0m ×2 + 2.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789090305.67456484 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOcontroller_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 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866843 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866843 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_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: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.20sINFOobjective_server_nodeobjective_name: "Refine Localization In Place" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.20sINFOobjective_server_nodeparameter_overrides: ×2 + 3.20sINFOobjective_server_node- ×2 + 3.20sINFOobjective_server_nodedescription: ×2 + 3.20sINFOobjective_server_nodename: "min_inlier_fraction" ×2 + 3.20sINFOobjective_server_nodetype: 2 ×2 + 3.20sINFOobjective_server_nodestring_value: "-1.0" ×2 + 3.20sINFOobjective_server_nodepose_value: ×2 + 3.20sINFOobjective_server_nodeheader: ×4 + 3.20sINFOobjective_server_nodestamp: ×4 + 3.20sINFOobjective_server_nodesec: 0 ×4 + 3.20sINFOobjective_server_nodenanosec: 0 ×4 + 3.20sINFOobjective_server_nodeframe_id: "" ×4 + 3.20sINFOobjective_server_nodepose: ×2 + 3.20sINFOobjective_server_nodeposition: ×2 + 3.20sINFOobjective_server_nodex: 0.00000 ×4 + 3.20sINFOobjective_server_nodey: 0.00000 ×4 + 3.20sINFOobjective_server_nodez: 0.00000 ×4 + 3.20sINFOobjective_server_nodeorientation: ×2 + 3.20sINFOobjective_server_nodew: 1.00000 ×2 + 3.20sINFOobjective_server_nodedouble_value: 0.00000 ×2 + 3.20sINFOobjective_server_nodeint_value: 0 ×2 + 3.20sINFOobjective_server_nodebool_value: false ×2 + 3.20sINFOobjective_server_nodejoint_state_value: ×2 + 3.20sINFOobjective_server_nodename: [] ×2 + 3.20sINFOobjective_server_nodeposition: [] ×2 + 3.20sINFOobjective_server_nodevelocity: [] ×2 + 3.20sINFOobjective_server_nodeeffort: [] ×2 + 3.20sINFOobjective_server_nodebehavior_namespaces: ×2 + 3.20sINFOobjective_server_node- "Tighten the estimate without moving" ×2 + 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 `Refine Localization In Place` starting at time: 1789090306.26301861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOamclInitializing particles from estimated pose and covariance + 3.25sINFOobjective_server_nodeSeed the filter at the clicked pose Info: Seeded localization at (-0.453, 0.682) yaw -3.5 deg, spread 0.50 m / 14.9 deg. ×3 + 3.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.452802, y=0.682056, yaw=-0.0607812 + 3.56sINFOamclNo-motion update requested ×20 + 3.67sINFOamclParticle filter update iteration stats: 1967 particles 723 points - 5.166ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714294 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714294 ms (missed cycles : 2).[0m ×2 + 4.24sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 4.069ms + 4.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 5.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 7.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3).[0m ×2 + 7.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 7.63sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-0.183, 0.100) yaw -1.1 deg: 54.5% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.100 m. ×3 + 7.63sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 7.63sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789090310.64581013 seconds ×3 + 8.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 8.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 8.22sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789090311.23603106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 8.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2).[0m ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2).[0m ×2 + 10.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 11.01sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.05sINFOjoint_trajectory_controllerReceived new action goal + 11.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 11.05sINFOjoint_trajectory_controllerAccepted new action goal + 11.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 33 warnings · 116 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699982 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699982 ms (missed cycles : 3).[0m ×2 + 0.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.523ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277178 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277178 ms (missed cycles : 4).[0m ×2 + 1.36sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.500ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827098 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827098 ms (missed cycles : 2).[0m ×2 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789090384.71655917 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618234 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618234 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090385.33168149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432428 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432428 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.717ms + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090386.23422647 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090386.81994295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477384 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477384 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789090387.38007307 seconds ×3 + 6.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959531 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959531 ms (missed cycles : 2).[0m ×2 + 6.64sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510117 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510117 ms (missed cycles : 3).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846984 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846984 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 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 5.780029 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.02sINFOobjective_server_nodecaller: ×10 + 1.02sINFOobjective_server_nodetype: 0 ×10 + 1.02sINFOobjective_server_nodename: "" ×10 + 1.02sINFOobjective_server_nodeinstance_id: "" ×10 + 1.02sINFOobjective_server_node ×10 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.06sINFOmove_groupClearing octomap...[0m ×2 + 1.06sINFOmove_groupOctomap cleared.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 1.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 2.97sWARNros2_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 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_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 + 3.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.66sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358938 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358938 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 26 warnings · 70 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230841 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230841 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942121 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942121 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839597 ms (missed cycles : 4). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839597 ms (missed cycles : 4).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789090066.96937799 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789090067.55627608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544056 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544056 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.7312e-05 s). ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823000 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823000 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.67sWARNros2_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 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044365 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044365 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 26 warnings · 70 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230841 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230841 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942121 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942121 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839597 ms (missed cycles : 4). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839597 ms (missed cycles : 4).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789090066.96937799 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789090067.55627608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544056 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544056 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.7312e-05 s). ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823000 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823000 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.67sWARNros2_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 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044365 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044365 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.16sINFOobjective_server_nodecaller: ×10 + 3.16sINFOobjective_server_nodetype: 0 ×10 + 3.16sINFOobjective_server_nodename: "" ×10 + 3.16sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNros2_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 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 5.11sWARNros2_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 + 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: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 22 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985361 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985361 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542372 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542372 ms (missed cycles : 3).[0m ×2 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 2.21sINFOjoint_trajectory_controllerGoal reached, success! + 2.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789090073.09640121 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073838 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073838 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789090073.67861509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.96sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.717ms + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.51sWARNros2_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 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344283 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344283 ms (missed cycles : 4).[0m ×2 + 4.14sWARNros2_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 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341036 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341036 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702186 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702186 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789090130.51875186 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789090131.11393189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.380ms + 3.52sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4).[0m ×2 + 4.46sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot | localize_robot.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789090130.51875186 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789090131.11393189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.380ms + 3.52sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4).[0m ×2 + 4.46sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789090130.51875186 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789090131.11393189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.380ms + 3.52sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4).[0m ×2 + 4.46sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789090130.51875186 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789090131.11393189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.380ms + 3.52sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4).[0m ×2 + 4.46sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 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 | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789090130.51875186 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789090131.11393189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.380ms + 3.52sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4).[0m ×2 + 4.46sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 38 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688847 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638098 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789090130.51875186 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789090131.11393189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013764 ms (missed cycles : 3).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.380ms + 3.52sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.97sINFOjoint_trajectory_controllerReceived new action goal + 3.97sINFOjoint_trajectory_controllerAccepted new action goal + 3.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312064 ms (missed cycles : 4).[0m ×2 + 4.46sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811689 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 36 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319691 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319691 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038717 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038717 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300740 ms (missed cycles : 4). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300740 ms (missed cycles : 4).[0m ×2 + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789090169.89419317 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNlocal_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. ×5 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789090170.48480940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.607ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786628 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786628 ms (missed cycles : 3).[0m ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666176 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666176 ms (missed cycles : 3).[0m ×2 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.70 s); lidar_front (0.70 s); lidar_rear (0.70 s); wrist_camera (0.70 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866172 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866172 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 36 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319691 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319691 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038717 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038717 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300740 ms (missed cycles : 4). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300740 ms (missed cycles : 4).[0m ×2 + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789090169.89419317 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNlocal_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. ×5 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789090170.48480940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.607ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786628 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786628 ms (missed cycles : 3).[0m ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666176 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666176 ms (missed cycles : 3).[0m ×2 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.70 s); lidar_front (0.70 s); lidar_rear (0.70 s); wrist_camera (0.70 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866172 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866172 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 36 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.994ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319691 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319691 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038717 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038717 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300740 ms (missed cycles : 4). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300740 ms (missed cycles : 4).[0m ×2 + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789090169.89419317 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNlocal_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. ×5 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789090170.48480940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.607ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786628 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786628 ms (missed cycles : 3).[0m ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666176 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666176 ms (missed cycles : 3).[0m ×2 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.70 s); lidar_front (0.70 s); lidar_rear (0.70 s); wrist_camera (0.70 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866172 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866172 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.16sINFOobjective_server_nodecaller: ×10 + 3.16sINFOobjective_server_nodetype: 0 ×10 + 3.16sINFOobjective_server_nodename: "" ×10 + 3.16sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNros2_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 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 5.11sWARNros2_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 + 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: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 27 warnings · 152 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912806 ms (missed cycles : 4).[0m ×2 + 0.86sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827779 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827779 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455332 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455332 ms (missed cycles : 2).[0m ×2 + 2.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789090305.67456484 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866843 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866843 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_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: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Refine Localization In Place" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: ×2 + 3.20sINFOobjective_server_node- ×2 + 3.20sINFOobjective_server_nodedescription: ×2 + 3.20sINFOobjective_server_nodename: "min_inlier_fraction" ×2 + 3.20sINFOobjective_server_nodetype: 2 ×2 + 3.20sINFOobjective_server_nodestring_value: "-1.0" ×2 + 3.20sINFOobjective_server_nodepose_value: ×2 + 3.20sINFOobjective_server_nodeheader: ×4 + 3.20sINFOobjective_server_nodestamp: ×4 + 3.20sINFOobjective_server_nodesec: 0 ×4 + 3.20sINFOobjective_server_nodenanosec: 0 ×4 + 3.20sINFOobjective_server_nodeframe_id: "" ×4 + 3.20sINFOobjective_server_nodepose: ×2 + 3.20sINFOobjective_server_nodeposition: ×2 + 3.20sINFOobjective_server_nodex: 0.00000 ×4 + 3.20sINFOobjective_server_nodey: 0.00000 ×4 + 3.20sINFOobjective_server_nodez: 0.00000 ×4 + 3.20sINFOobjective_server_nodeorientation: ×2 + 3.20sINFOobjective_server_nodew: 1.00000 ×2 + 3.20sINFOobjective_server_nodedouble_value: 0.00000 ×2 + 3.20sINFOobjective_server_nodeint_value: 0 ×2 + 3.20sINFOobjective_server_nodebool_value: false ×2 + 3.20sINFOobjective_server_nodejoint_state_value: ×2 + 3.20sINFOobjective_server_nodename: [] ×2 + 3.20sINFOobjective_server_nodeposition: [] ×2 + 3.20sINFOobjective_server_nodevelocity: [] ×2 + 3.20sINFOobjective_server_nodeeffort: [] ×2 + 3.20sINFOobjective_server_nodebehavior_namespaces: ×2 + 3.20sINFOobjective_server_node- "Tighten the estimate without moving" ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Refine Localization In Place` starting at time: 1789090306.26301861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOamclInitializing particles from estimated pose and covariance + 3.25sINFOobjective_server_nodeSeed the filter at the clicked pose Info: Seeded localization at (-0.453, 0.682) yaw -3.5 deg, spread 0.50 m / 14.9 deg. ×3 + 3.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.452802, y=0.682056, yaw=-0.0607812 + 3.56sINFOamclNo-motion update requested ×17 + 3.67sINFOamclParticle filter update iteration stats: 1967 particles 723 points - 5.166ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714294 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714294 ms (missed cycles : 2).[0m ×2 + 4.24sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 4.069ms + 4.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 5.87sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Refine Localization In Place Subtree | refine_localization_in_place_subtree.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOamclNo-motion update requested ×15 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 1.49sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3).[0m ×2 + 3.23sWARNros2_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 + 3.24sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-0.183, 0.100) yaw -1.1 deg: 54.5% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.100 m. ×3 + 3.24sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.24sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789090310.64581013 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789090311.23603106 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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal + 6.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.16sINFOobjective_server_nodecaller: ×10 + 3.16sINFOobjective_server_nodetype: 0 ×10 + 3.16sINFOobjective_server_nodename: "" ×10 + 3.16sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNros2_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 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 5.11sWARNros2_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 + 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: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOamclNo-motion update requested ×15 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 1.49sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3).[0m ×2 + 3.23sWARNros2_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 + 3.24sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-0.183, 0.100) yaw -1.1 deg: 54.5% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.100 m. ×3 + 3.24sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.24sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789090310.64581013 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789090311.23603106 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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal + 6.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOamclNo-motion update requested ×15 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 1.49sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3).[0m ×2 + 3.23sWARNros2_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 + 3.24sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-0.183, 0.100) yaw -1.1 deg: 54.5% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.100 m. ×3 + 3.24sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.24sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789090310.64581013 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789090311.23603106 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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal + 6.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOamclNo-motion update requested ×15 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 1.49sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3).[0m ×2 + 3.23sWARNros2_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 + 3.24sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-0.183, 0.100) yaw -1.1 deg: 54.5% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.100 m. ×3 + 3.24sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.24sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789090310.64581013 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789090311.23603106 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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal + 6.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOamclNo-motion update requested ×15 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 1.49sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3).[0m ×2 + 3.23sWARNros2_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 + 3.24sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-0.183, 0.100) yaw -1.1 deg: 54.5% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.100 m. ×3 + 3.24sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.24sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789090310.64581013 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789090311.23603106 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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal + 6.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOamclNo-motion update requested ×15 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 1.49sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3).[0m ×2 + 3.23sWARNros2_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 + 3.24sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-0.183, 0.100) yaw -1.1 deg: 54.5% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.100 m. ×3 + 3.24sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.24sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789090310.64581013 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789090311.23603106 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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal + 6.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOamclNo-motion update requested ×15 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660261 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 1.49sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744510 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732872 ms (missed cycles : 3).[0m ×2 + 3.23sWARNros2_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 + 3.24sINFOobjective_server_nodeCheck the pose against the map Info: Scan match at (-0.183, 0.100) yaw -1.1 deg: 54.5% of 22 usable beams (of 60 scored) within 0.15 m of the map, median residual 0.100 m. ×3 + 3.24sINFOobjective_server_nodeLogMessage Info: Refinement accepted; the localizer is holding the refined pose. ×3 + 3.24sINFOobjective_server_nodeObjective `Refine Localization In Place` succeeded at time: 1789090310.64581013 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789090311.23603106 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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271096 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287966 ms (missed cycles : 2).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827500 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal + 6.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 27 warnings · 116 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699982 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699982 ms (missed cycles : 3).[0m ×2 + 0.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.523ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277178 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277178 ms (missed cycles : 4).[0m ×2 + 1.36sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.500ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827098 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827098 ms (missed cycles : 2).[0m ×2 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.965ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789090384.71655917 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618234 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618234 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090385.33168149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432428 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432428 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.717ms + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090386.23422647 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090386.81994295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477384 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477384 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789090387.38007307 seconds ×3 + 6.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959531 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959531 ms (missed cycles : 2).[0m ×2 + 6.64sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 0.57sINFOros2_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 5.780029 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.07sINFOobjective_server_nodecaller: ×10 + 2.07sINFOobjective_server_nodetype: 0 ×10 + 2.07sINFOobjective_server_nodename: "" ×10 + 2.07sINFOobjective_server_nodeinstance_id: "" ×10 + 2.07sINFOobjective_server_node ×10 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.11sINFOmove_groupClearing octomap...[0m ×2 + 2.11sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 4.02sWARNros2_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 + 4.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.16sINFOobjective_server_nodecaller: ×10 + 3.16sINFOobjective_server_nodetype: 0 ×10 + 3.16sINFOobjective_server_nodename: "" ×10 + 3.16sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNros2_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 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 5.11sWARNros2_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 + 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: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 30 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.16sINFOobjective_server_nodecaller: ×10 + 3.16sINFOobjective_server_nodetype: 0 ×10 + 3.16sINFOobjective_server_nodename: "" ×10 + 3.16sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNros2_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 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 5.11sWARNros2_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 + 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: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.20sINFOjoint_trajectory_controllerReceived new action goal + 7.20sINFOjoint_trajectory_controllerAccepted new action goal + 7.20sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 27 warnings · 300 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.16sINFOobjective_server_nodecaller: ×10 + 3.16sINFOobjective_server_nodetype: 0 ×10 + 3.16sINFOobjective_server_nodename: "" ×10 + 3.16sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNros2_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 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 5.11sWARNros2_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 + 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: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.16sINFOobjective_server_nodecaller: ×10 + 3.16sINFOobjective_server_nodetype: 0 ×10 + 3.16sINFOobjective_server_nodename: "" ×10 + 3.16sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNros2_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 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 5.11sWARNros2_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 + 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: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.16sINFOobjective_server_nodecaller: ×10 + 3.16sINFOobjective_server_nodetype: 0 ×10 + 3.16sINFOobjective_server_nodename: "" ×10 + 3.16sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNros2_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 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 5.11sWARNros2_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 + 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: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775443 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 2.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.16sINFOobjective_server_nodecaller: ×10 + 3.16sINFOobjective_server_nodetype: 0 ×10 + 3.16sINFOobjective_server_nodename: "" ×10 + 3.16sINFOobjective_server_nodeinstance_id: "" ×10 + 3.17sINFOobjective_server_node ×10 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNros2_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 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 5.11sWARNros2_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 + 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: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937975 ms (missed cycles : 2).[0m ×2 + 0.57sINFOros2_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 5.780029 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.07sINFOobjective_server_nodecaller: ×10 + 2.07sINFOobjective_server_nodetype: 0 ×10 + 2.07sINFOobjective_server_nodename: "" ×10 + 2.07sINFOobjective_server_nodeinstance_id: "" ×10 + 2.07sINFOobjective_server_node ×10 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.11sINFOmove_groupClearing octomap...[0m ×2 + 2.11sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 4.02sWARNros2_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 + 4.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358938 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358938 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780029 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789090021.31526256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789090021.32549834 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686315 ms (missed cycles : 6).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789090021.91024756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789090021.92039418 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019513 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789090022.50299788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789090022.65387368 seconds ×3 + 3.44sWARNros2_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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789090023.27718949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789090023.33733153 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294812 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789090023.91677666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027061 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987811 ms (missed cycles : 2).[0m ×2 | ||||