68
Total objective tests
17
Objectives passed
0
Objectives failed
51
Objectives skipped
23.3s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 29.0s | 10 errors · 91 warnings · 4949 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/2026-09-11-20-53-44-318199-6da09c733df1-10031 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.06sINFOlaunch.usernav2 params (ROS_DISTRO=jazzy): /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/params/nav2_params_jazzy.yaml ×2 + 10.69sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'map' to 'odom' + 10.69sINFOstatic_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' + 10.69sINFOstatic_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' + 10.77sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 10.79sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 10.81sINFOcontroller_managerupdate rate is 600 Hz + 10.81sINFOcontroller_managerOverruns handling is : enabled + 10.81sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 10.81sWARNcontroller_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. + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816578 ms (missed cycles : 2). + 10.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 10.96sINFOros2_control_node-8process started with pid [10088] ×2 + 10.96sINFOmove_group-20process started with pid [10177] ×2 + 10.96sINFOparameter_manager_node-21process started with pid [10178] ×2 + 10.96sINFOwaypoint_manager_node-22process started with pid [10179] ×2 + 10.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 10.96sINFOmove_joint_resampler_node-23process started with pid [10180] ×2 + 10.96sINFOmove_end_effector_resampler_node-24process started with pid [10226] ×2 + 10.97sINFOobjective_server_node_main-25process started with pid [10239] ×2 + 10.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 10.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.97sINFOcomponent_container_mt-26process started with pid [10240] ×2 + 10.97sINFOcomponent_container_mt-27process started with pid [10241] ×2 + 10.97sINFOexecute_objective_bridge-28process started with pid [10244] ×2 + 10.97sINFOui_teleop_bridge-29process started with pid [10245] ×2 + 10.97sINFOweb_bridge-30process started with pid [10246] ×2 + 10.97sINFOtf2_web_republisher_node-31process started with pid [10247] ×2 + 10.98sINFOweb_video_server-32process started with pid [10250] ×2 + 11.00sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 11.01sINFOcomponent_container_isolated-1process started with pid [10081] ×2 + 11.01sINFOstatic_transform_publisher-2process started with pid [10082] ×2 + 11.01sINFOstatic_transform_publisher-3process started with pid [10083] ×2 + 11.01sINFOstatic_transform_publisher-4process started with pid [10084] ×2 + 11.01sINFOodom_qos_relay.py-5process started with pid [10085] ×2 + 11.02sINFOscan_to_scan_filter_chain-6process started with pid [10086] ×2 + 11.02sINFOscan_to_scan_filter_chain-7process started with pid [10087] ×2 + 11.02sINFOros2-9process started with pid [10166] ×2 + 11.02sINFOros2-10process started with pid [10167] ×2 + 11.02sINFOros2-11process started with pid [10168] ×2 + 11.03sINFOros2-12process started with pid [10169] ×2 + 11.03sINFOros2-13process started with pid [10170] ×2 + 11.03sINFOros2-14process started with pid [10171] ×2 + 11.03sINFOros2-15process started with pid [10172] ×2 + 11.03sINFOros2-16process started with pid [10173] ×2 + 11.03sINFOros2-17process started with pid [10174] ×2 + 11.04sINFOmap_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. + 11.04sINFOmap_serverCreating + 11.04sINFOros2-18process started with pid [10175] ×2 + 11.04sINFOros2-19process started with pid [10176] ×2 + 11.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 11.07sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 11.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 11.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 11.09sINFOcontroller_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. + 11.11sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 11.11sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 11.11sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 11.11sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 11.11sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 11.13sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 11.13sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 11.13sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 11.13sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×2 + 11.13sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 11.13sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 11.13sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 11.13sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 11.13sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 11.13sWARNros2_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 + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816578 ms (missed cycles : 2).[0m ×2 + 11.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 11.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 11.15sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 11.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 11.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 11.16sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 11.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 11.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 11.20sINFOcontroller_serverCreating controller server + 11.24sINFOlocal_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. + 11.24sINFOlocal_costmap.local_costmapCreating Costmap + 11.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 11.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 11.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 11.26sINFOrobot_state_publisherRobot initialized + 11.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 11.27sINFOcomponent_container_mtRobot initialized[0m ×2 + 11.27sINFOcontroller_managerReceived robot description from topic. + 11.27sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 11.27sINFOlifecycle_manager_localizationCreating + 11.27sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 11.28sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 11.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 11.30sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 11.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 11.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 11.30sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 11.31sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 11.31sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 11.31sINFOmap_serverConfiguring + 11.31sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 11.31sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 11.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 11.33sINFOsmoother_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. + 11.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 11.35sINFOsmoother_serverCreating smoother server + 11.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 11.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 11.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.38sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 11.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 11.39sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 11.39sINFOmap_serverActivating + 11.39sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 11.40sINFOplanner_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. + 11.42sINFOplanner_serverCreating + 11.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 11.43sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 11.43sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 11.46sINFOglobal_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. + 11.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 11.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 11.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 11.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 11.46sINFOglobal_costmap.global_costmapCreating Costmap + 11.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 11.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 11.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 11.47sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 11.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 11.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 11.47sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 11.47sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 11.50sINFOlifecycle_manager_localizationServer map_server connected with bond. + 11.50sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 11.50sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 11.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 11.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 11.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.55sINFObehavior_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. + 11.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 11.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 11.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.65sINFObt_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. + 11.68sINFObt_navigatorCreating + 11.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 11.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 11.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.70sWARNlaser_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. + 11.70sWARNlaser_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. + 11.70sWARNscan_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 + 11.71sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.71sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 11.71sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.73sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.294692 seconds + 11.73sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 11.73sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 11.74sINFOwaypoint_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. + 11.75sINFOwaypoint_followerCreating + 11.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 11.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 11.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.81sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 11.82sINFOmove_groupLoaded robot model in 0.294692 seconds[0m ×2 + 11.82sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 11.82sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.82sINFOvelocity_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. + 11.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 11.87sINFOlifecycle_manager_navigationCreating + 11.88sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 11.91sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 11.91sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 11.91sINFOcontroller_serverConfiguring controller interface + 11.91sINFOcontroller_servergetting progress checker plugins.. + 11.91sINFOcontroller_servergetting goal checker plugins.. + 11.91sINFOcontroller_serverController frequency set to 20.0000Hz + 11.92sINFOlocal_costmap.local_costmapConfiguring + 11.97sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 11.97sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 12.03sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 12.03sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 12.03sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 12.06sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 12.06sINFOcontroller_serverController Server has progress_checker progress checkers available. + 12.07sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 12.07sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 12.08sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 12.11sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 12.13sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 12.13sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 12.14sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 12.14sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 12.14sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 12.14sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 12.15sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 12.15sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 12.15sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 12.15sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 12.15sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 12.15sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 12.15sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 12.15sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 12.15sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 12.15sINFOcontroller_serverOptimizer reset ×2 + 12.18sINFOcontroller_serverController Server has FollowPath controllers available. + 12.20sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 12.20sINFOsmoother_serverConfiguring smoother server + 12.22sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 12.22sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 12.24sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 12.24sINFOplanner_serverConfiguring + 12.24sINFOglobal_costmap.global_costmapConfiguring + 12.25sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 12.26sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 12.26sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 12.26sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 12.27sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 12.31sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 12.31sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 12.32sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398288 ms (missed cycles : 6). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398288 ms (missed cycles : 6).[0m ×2 + 12.37sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 12.37sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 12.38sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 12.38sINFOplanner_serverPlanner Server has GridBased planners available. + 12.40sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.40sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 12.40sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.41sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 12.41sINFObehavior_serverConfiguring + 12.42sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 12.44sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 12.45sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 12.45sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 12.46sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 12.47sINFObehavior_serverConfiguring spin + 12.48sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 12.48sINFOwaypoint_manager_nodeLoaded robot model in 0.401971 seconds[0m ×2 + 12.48sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 12.48sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.49sINFObehavior_serverConfiguring backup + 12.50sINFObehavior_serverConfiguring drive_on_heading + 12.52sINFObehavior_serverConfiguring assisted_teleop + 12.55sINFObehavior_serverConfiguring wait + 12.56sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.56sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.58sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 12.58sINFObt_navigatorConfiguring + 12.60sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 12.61sWARNbt_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 + 12.94sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 13.06sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 13.06sINFOwaypoint_followerConfiguring + 13.09sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 13.10sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 13.10sINFOvelocity_smootherConfiguring velocity smoother + 13.12sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 13.12sINFOcontroller_serverActivating + 13.12sINFOlocal_costmap.local_costmapActivating + 13.12sINFOlocal_costmap.local_costmapChecking transform + 13.12sINFOlocal_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. ×14 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986431 ms (missed cycles : 4). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986431 ms (missed cycles : 4).[0m ×2 + 13.42sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 13.42sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 13.42sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 13.43sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 13.59sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 13.59sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 13.59sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 13.59sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 13.59sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 13.59sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 13.59sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 13.59sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 13.59sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 13.59sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 13.60sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 13.60sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 13.60sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 13.60sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 13.60sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 13.60sINFOmove_groupStarting planning scene monitor[0m ×2 + 13.60sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 13.60sINFOmove_groupListening to '/planning_scene'[0m ×2 + 13.60sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 13.61sINFOmove_groupListening to 'collision_object'[0m ×2 + 13.61sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 13.61sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 13.63sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 13.65sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 14.26sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 14.26sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 14.27sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 14.64sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 14.64sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 14.64sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 14.64sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 14.64sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 14.64sWARNros2_control_node23 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 + 14.64sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 14.64sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 14.64sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 14.64sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 14.64sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 14.64sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 14.64sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 14.64sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 14.64sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 14.64sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 14.64sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 14.64sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.64sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.64sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 14.65sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.65sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.65sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 14.65sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 14.65sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 14.65sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 14.65sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 14.65sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 14.65sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 14.65sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 14.65sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 14.65sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 14.65sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 14.65sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 14.65sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 14.65sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 14.65sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 14.65sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 14.65sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 14.65sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 14.65sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 14.65sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 14.65sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 14.65sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 14.65sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 14.65sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 14.65sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 14.65sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 14.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 14.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 14.68sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.68sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 14.68sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 14.68sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.69sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894008 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894008 ms (missed cycles : 3).[0m ×2 + 14.76sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 14.76sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 14.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 14.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 14.77sINFOplatform_velocity_controllerconfigure successful + 14.77sINFOros2_control_nodeconfigure successful[0m ×6 + 14.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 14.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 14.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 14.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 14.79sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 14.79sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 14.92sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 14.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 14.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 14.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 14.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 14.93sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 14.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 14.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 14.94sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 14.95sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 14.95sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 14.95sINFOstreaming_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) + 14.95sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 14.95sINFOcomponent_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 + 14.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 14.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 14.95sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 14.96sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 15.02sINFOobjective_server_node[2026-09-11 20:54:02.708] [moveit_pro_license] [info] ×2 + 15.02sINFOobjective_server_node************************************************* ×4 + 15.02sINFOobjective_server_node* MoveIt Pro License ×2 + 15.02sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.10sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 15.10sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 15.10sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 15.10sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 15.11sINFOros2-12process has finished cleanly [pid 10169] ×2 + 15.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 15.16sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 15.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 15.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 15.17sWARNcomponent_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 + 15.23sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 15.23sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 15.29sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 15.29sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 15.29sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 15.29sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 15.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 15.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 15.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 15.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 15.33sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 15.33sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 15.38sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 15.38sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 15.38sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 15.41sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 15.41sINFOobjective_server_nodeLoaded robot model in 0.335632 seconds[0m ×2 + 15.41sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 15.41sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.58sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 15.58sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 15.58sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 15.60sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 15.60sINFOcomponent_container_mtLoaded robot model in 0.421372 seconds[0m ×2 + 15.60sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 15.60sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.72sINFOros2_control_node[2026-09-11 20:54:03.411] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 15.73sINFOros2_control_node[2026-09-11 20:54:03.414] [info] Controller state will be published at 10 Hz. ×2 + 15.73sINFOros2_control_node[2026-09-11 20:54:03.415] [info] VelocityForceController 'on_configure' succeeded. ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228160 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228160 ms (missed cycles : 2).[0m ×2 + 15.92sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.97sINFOobjective_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 + 15.98sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 15.99sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 15.99sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 15.99sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 15.99sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 15.99sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 15.99sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 15.99sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.09sINFOros2-17process has finished cleanly [pid 10174] ×2 + 16.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 16.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 16.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 16.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 16.10sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 16.10sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 16.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 16.20sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 16.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 16.20sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 16.20sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 16.20sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 16.20sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 16.20sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 16.20sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 16.20sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 16.20sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 16.20sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 16.20sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 16.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 16.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 16.27sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.27sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 16.47sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 16.47sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 16.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 16.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 16.54sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 16.54sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 16.54sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 16.54sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 16.55sINFOros2-15process has finished cleanly [pid 10172] ×2 + 16.62sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 16.62sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 16.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 16.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 16.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 16.68sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 16.68sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 16.68sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 16.69sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184918 ms (missed cycles : 3). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184918 ms (missed cycles : 3).[0m ×2 + 16.88sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 16.88sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 17.05sINFOros2_control_node[2026-09-11 20:54:04.740] [info] Controller state will be published at 20 Hz. ×2 + 17.05sINFOros2_control_node[2026-09-11 20:54:04.741] [info] JointVelocityController 'on_configure' succeeded. ×2 + 17.19sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 17.19sINFOmove_groupMoveGroup debug mode is ON + 17.19sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 17.19sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.26sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.27sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 17.37sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.37sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.37sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.37sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.38sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.39sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 17.39sINFOcontroller_managerLoading controller 'velocity_force_controller' + 17.39sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 17.39sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 17.39sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 17.39sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 17.41sINFOros2-19process has finished cleanly [pid 10176] ×2 + 17.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 17.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 17.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 17.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 17.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 17.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.57sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 17.57sINFOmove_group ×8 + 17.57sINFOmove_group******************************************************** ×4 + 17.57sINFOmove_group* MoveGroup using: ×2 + 17.57sINFOmove_group* - apply_planning_scene_service ×2 + 17.57sINFOmove_group* - clear_octomap_service ×2 + 17.57sINFOmove_group* - ExecuteTaskSolution ×2 + 17.57sINFOmove_group* - get_group_urdf ×2 + 17.57sINFOmove_group* - load_geometry_from_file ×2 + 17.57sINFOmove_group* - get_planning_scene_service ×2 + 17.57sINFOmove_group* - kinematics_service ×2 + 17.57sINFOmove_group* - save_geometry_to_file ×2 + 17.57sINFOmove_group* - GetPlanningGroups ×2 + 17.57sINFOmove_group* - SetActiveControllerService ×2 + 17.58sINFOmove_group* - URDFPlanningSceneCapability ×2 + 17.58sINFOmove_group[0m ×2 + 17.58sINFOmove_group[92mYou can start planning now![0m ×2 + 17.72sWARNobjective_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 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077825 ms (missed cycles : 2). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077825 ms (missed cycles : 2).[0m ×2 + 17.85sINFOros2_control_node[2026-09-11 20:54:05.539] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 17.85sINFOros2_control_node[2026-09-11 20:54:05.541] [info] Controller state will be published at 10 Hz. ×2 + 17.86sINFOros2_control_node[2026-09-11 20:54:05.542] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 18.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 18.20sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 18.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 18.20sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 18.21sINFOros2-16process has finished cleanly [pid 10173] ×2 + 18.26sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 18.26sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 18.26sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 18.26sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 18.26sINFOplatform_velocity_controller_nav2configure successful + 18.67sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.67sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.67sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 18.67sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.67sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.67sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 18.69sINFOros2-14process has finished cleanly [pid 10171] ×2 + 18.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.73sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.74sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.74sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665736 ms (missed cycles : 4). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665736 ms (missed cycles : 4).[0m ×2 + 19.08sINFOros2_control_node[2026-09-11 20:54:06.771] [info] Controller state will be published at 20 Hz. ×2 + 19.09sINFOros2_control_node[2026-09-11 20:54:06.772] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.44sINFOros2-18process has finished cleanly [pid 10175] ×2 + 19.44sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 19.44sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 19.44sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 19.44sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 19.44sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 19.44sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 19.52sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 19.52sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 19.52sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 19.52sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 19.53sINFOforce_torque_sensor_broadcasterconfigure successful + 19.53sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 19.53sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 19.54sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 19.54sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 19.86sINFOros2-9process has finished cleanly [pid 10166] ×2 + 19.86sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.86sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 19.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637348 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637348 ms (missed cycles : 2).[0m ×2 + 19.93sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.93sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.93sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.93sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 19.93sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 19.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.94sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 19.94sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 19.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.95sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 20.12sINFOlocal_costmap.local_costmapstart + 20.22sWARNcontroller_serverParameter controller_server.verbose not found + 20.22sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 20.23sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 20.29sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 20.29sINFOcontroller_managerLoading controller 'vacuum_gripper' + 20.30sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 20.30sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 20.30sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 20.30sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 20.30sINFOros2-11process has finished cleanly [pid 10168] ×2 + 20.32sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 20.32sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 20.33sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 20.33sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 20.33sINFOsmoother_serverActivating + 20.33sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 20.36sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 20.36sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 20.36sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 20.36sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 20.36sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 20.36sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 20.37sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 20.37sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 20.38sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 20.38sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 20.43sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 20.43sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 20.43sINFOplanner_serverActivating + 20.43sINFOglobal_costmap.global_costmapActivating + 20.43sINFOglobal_costmap.global_costmapChecking transform + 20.43sINFOglobal_costmap.global_costmapstart + 20.72sINFOros2-13process has finished cleanly [pid 10170] ×2 + 20.73sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 20.73sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 20.73sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 20.73sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 20.73sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k + 20.73sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8q5fdym4 --params-file /tmp/launch_params_r5wdcdcy --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_ra5l8_71 --params-file /tmp/launch_params_rtizg69k [0m ×2 + 20.78sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 20.78sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 20.80sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 20.80sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 20.80sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 20.80sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 20.81sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 20.81sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024782 ms (missed cycles : 2). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024782 ms (missed cycles : 2).[0m ×2 + 21.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 21.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 21.11sINFOros2-10process has finished cleanly [pid 10167] ×2 + 21.49sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 21.49sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 21.59sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 21.59sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 21.59sINFObehavior_serverActivating + 21.59sINFObehavior_serverActivating spin + 21.59sINFObehavior_serverActivating backup + 21.59sINFObehavior_serverActivating drive_on_heading + 21.59sINFObehavior_serverActivating assisted_teleop + 21.59sINFObehavior_serverActivating wait + 21.59sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 21.70sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 21.70sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 21.70sINFObt_navigatorActivating + 21.77sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 21.88sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 21.88sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 21.88sINFOwaypoint_followerActivating + 21.88sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204609 ms (missed cycles : 5). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204609 ms (missed cycles : 5).[0m ×2 + 21.99sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 21.99sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 21.99sINFOvelocity_smootherActivating + 21.99sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 22.09sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 22.09sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 22.09sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 24.69sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 26.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 26.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 26.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 26.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 26.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 26.18sINFOobjective_server_node ×8 + 26.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 26.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 26.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 26.22sINFOmove_groupClearing octomap...[0m ×2 + 26.22sINFOmove_groupOctomap cleared.[0m ×2 + 26.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 26.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 26.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 26.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 26.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 27.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 27.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 27.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 27.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 28.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 28.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 28.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 28.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 28.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 28.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 28.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 28.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 28.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 28.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 28.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 28.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 28.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 28.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 28.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 28.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 28.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 28.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.3s | 3 errors · 234 warnings · 119 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389866 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.079598 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.079598 ms (missed cycles : 6).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875354 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875354 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765229 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765229 ms (missed cycles : 2).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGot request to cancel goal + 3.60sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.60sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.60sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1789160264.73424411 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-0.66, 3.74) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-1.56, 3.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
+ 4.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.18sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 4.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.18sINFOobjective_server_node ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875858 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875858 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789160265.30015612 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062685 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062685 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096966 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096966 ms (missed cycles : 5).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal ×4 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 6.54sINFOros2_control_nodeReceived new action goal[0m ×8 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×8 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564176 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564176 ms (missed cycles : 3).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.194320 ms (missed cycles : 8). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.194320 ms (missed cycles : 8).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704835 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704835 ms (missed cycles : 3).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343401 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343401 ms (missed cycles : 4).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703493 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703493 ms (missed cycles : 2).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808240 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808240 ms (missed cycles : 2).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.818254 ms (missed cycles : 6). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.818254 ms (missed cycles : 6).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079272 ms (missed cycles : 5). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079272 ms (missed cycles : 5).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852398 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852398 ms (missed cycles : 3).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834290 ms (missed cycles : 3). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834290 ms (missed cycles : 3).[0m ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.330050 ms (missed cycles : 7). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.330050 ms (missed cycles : 7).[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745141 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745141 ms (missed cycles : 2).[0m ×2 + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388889 ms (missed cycles : 2). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388889 ms (missed cycles : 2).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238675 ms (missed cycles : 3). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238675 ms (missed cycles : 3).[0m ×2 + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411586 ms (missed cycles : 3). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411586 ms (missed cycles : 3).[0m ×2 + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779473 ms (missed cycles : 2). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779473 ms (missed cycles : 2).[0m ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932431 ms (missed cycles : 5). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932431 ms (missed cycles : 5).[0m ×2 + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510207 ms (missed cycles : 3). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510207 ms (missed cycles : 3).[0m ×2 + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055668 ms (missed cycles : 3). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055668 ms (missed cycles : 3).[0m ×2 + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735260 ms (missed cycles : 3). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735260 ms (missed cycles : 3).[0m ×2 + 28.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894097 ms (missed cycles : 2). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894097 ms (missed cycles : 2).[0m ×2 + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007120 ms (missed cycles : 2). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007120 ms (missed cycles : 2).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269702 ms (missed cycles : 4). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269702 ms (missed cycles : 4).[0m ×2 + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610928 ms (missed cycles : 3). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610928 ms (missed cycles : 3).[0m ×2 + 31.32sINFOros2_control_nodeMuJoCo sim: 3.58% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384900 ms (missed cycles : 3). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384900 ms (missed cycles : 3).[0m ×2 + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468907 ms (missed cycles : 4). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468907 ms (missed cycles : 4).[0m ×2 + 33.88sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.88sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.17sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946934 ms (missed cycles : 2). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946934 ms (missed cycles : 2).[0m ×2 + 34.94sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395937 ms (missed cycles : 4). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395937 ms (missed cycles : 4).[0m ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518738 ms (missed cycles : 7). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518738 ms (missed cycles : 7).[0m ×2 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.552105 ms (missed cycles : 7). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.552105 ms (missed cycles : 7).[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842749 ms (missed cycles : 2). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842749 ms (missed cycles : 2).[0m ×2 + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079114 ms (missed cycles : 4). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079114 ms (missed cycles : 4).[0m ×2 + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900796 ms (missed cycles : 4). + 40.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900796 ms (missed cycles : 4).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670347 ms (missed cycles : 3). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670347 ms (missed cycles : 3).[0m ×2 + 42.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348741 ms (missed cycles : 4). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348741 ms (missed cycles : 4).[0m ×2 + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253099 ms (missed cycles : 3). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253099 ms (missed cycles : 3).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355803 ms (missed cycles : 4). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355803 ms (missed cycles : 4).[0m ×2 + 45.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.425752 ms (missed cycles : 7). + 45.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.425752 ms (missed cycles : 7).[0m ×2 + 46.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131215 ms (missed cycles : 2). + 46.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131215 ms (missed cycles : 2).[0m ×2 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027151 ms (missed cycles : 4). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027151 ms (missed cycles : 4).[0m ×2 + 49.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532729 ms (missed cycles : 2). + 49.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532729 ms (missed cycles : 2).[0m ×2 + 50.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437974 ms (missed cycles : 3). + 50.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437974 ms (missed cycles : 3).[0m ×2 + 50.84sINFOobjective_server_nodePlanning for 45 path waypoints. ×3 + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.704457 ms (missed cycles : 6). + 51.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.704457 ms (missed cycles : 6).[0m ×2 + 52.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974480 ms (missed cycles : 2). + 52.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974480 ms (missed cycles : 2).[0m ×2 + 53.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.801696 ms (missed cycles : 6). + 53.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.801696 ms (missed cycles : 6).[0m ×2 + 54.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906304 ms (missed cycles : 5). + 54.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906304 ms (missed cycles : 5).[0m ×2 + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504022 ms (missed cycles : 3). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504022 ms (missed cycles : 3).[0m ×2 + 56.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.385211 ms (missed cycles : 7). + 56.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.385211 ms (missed cycles : 7).[0m ×2 + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762041 ms (missed cycles : 3). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762041 ms (missed cycles : 3).[0m ×2 + 58.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549603 ms (missed cycles : 4). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549603 ms (missed cycles : 4).[0m ×2 + 59.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172151 ms (missed cycles : 5). + 59.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172151 ms (missed cycles : 5).[0m ×2 + 60.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580922 ms (missed cycles : 4). + 60.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580922 ms (missed cycles : 4).[0m ×2 + 61.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690554 ms (missed cycles : 3). + 61.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690554 ms (missed cycles : 3).[0m ×2 + 63.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238850 ms (missed cycles : 2). + 63.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238850 ms (missed cycles : 2).[0m ×2 + 64.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540468 ms (missed cycles : 4). + 64.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540468 ms (missed cycles : 4).[0m ×2 + 64.57sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 65.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766768 ms (missed cycles : 3). + 65.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766768 ms (missed cycles : 3).[0m ×2 + 66.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603892 ms (missed cycles : 3). + 66.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603892 ms (missed cycles : 3).[0m ×2 + 67.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609451 ms (missed cycles : 5). + 67.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609451 ms (missed cycles : 5).[0m ×2 + 68.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279965 ms (missed cycles : 4). + 68.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279965 ms (missed cycles : 4).[0m ×2 + 69.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918186 ms (missed cycles : 2). + 69.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918186 ms (missed cycles : 2).[0m ×2 + 70.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384376 ms (missed cycles : 3). + 70.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384376 ms (missed cycles : 3).[0m ×2 + 71.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860800 ms (missed cycles : 5). + 71.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860800 ms (missed cycles : 5).[0m ×2 + 72.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3). + 72.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3).[0m ×2 + 73.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3). + 73.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3).[0m ×2 + 74.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2). + 74.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2).[0m ×2 + 75.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3). + 75.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3).[0m ×2 + 76.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4). + 76.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4).[0m ×2 + 76.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789160338.03033519 seconds ×3 + 77.03sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 77.03sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.58) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 77.13sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 10.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 77.13sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 9.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 77.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 77.49sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 77.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789160338.60043526 seconds. ×3 + 77.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2). + 77.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2).[0m ×2 + 78.00sINFOobjective_server_nodeFound path in 0 iterations (1.664e-06 s). ×2 + 78.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4). + 78.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 187 warnings · 134 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789160099.42133069 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.56sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.56sINFOobjective_server_node ×6 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789160099.98381710 seconds. ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeFound path in 0 iterations (2.2553e-05 s). ×2 + 1.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.82sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.82sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.82sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.82sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467948 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467948 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789160103.33395314 seconds ×3 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
+ 4.46sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 4.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789160103.89414191 seconds. ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449730 ms (missed cycles : 3). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449730 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874373 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874373 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716343 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716343 ms (missed cycles : 3).[0m ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054074 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054074 ms (missed cycles : 2).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.908512 ms (missed cycles : 6). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.908512 ms (missed cycles : 6).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465577 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465577 ms (missed cycles : 3).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199890 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199890 ms (missed cycles : 2).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938291 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938291 ms (missed cycles : 2).[0m ×2 + 12.99sINFOros2_control_nodeMuJoCo sim: 2.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653434 ms (missed cycles : 4). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653434 ms (missed cycles : 4).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675978 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675978 ms (missed cycles : 3).[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153005 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153005 ms (missed cycles : 2).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.087393 ms (missed cycles : 8). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.087393 ms (missed cycles : 8).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735178 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735178 ms (missed cycles : 2).[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569063 ms (missed cycles : 4). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569063 ms (missed cycles : 4).[0m ×2 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399603 ms (missed cycles : 7). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399603 ms (missed cycles : 7).[0m ×2 + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894466 ms (missed cycles : 5). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894466 ms (missed cycles : 5).[0m ×2 + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.616909 ms (missed cycles : 7). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.616909 ms (missed cycles : 7).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264403 ms (missed cycles : 3). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264403 ms (missed cycles : 3).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187338 ms (missed cycles : 3). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187338 ms (missed cycles : 3).[0m ×2 + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787360 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787360 ms (missed cycles : 2).[0m ×2 + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837439 ms (missed cycles : 2). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837439 ms (missed cycles : 2).[0m ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.145524 ms (missed cycles : 6). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.145524 ms (missed cycles : 6).[0m ×2 + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214073 ms (missed cycles : 2). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214073 ms (missed cycles : 2).[0m ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690738 ms (missed cycles : 2). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690738 ms (missed cycles : 2).[0m ×2 + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799883 ms (missed cycles : 3). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799883 ms (missed cycles : 3).[0m ×2 + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774461 ms (missed cycles : 2). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774461 ms (missed cycles : 2).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136936 ms (missed cycles : 5). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.136936 ms (missed cycles : 5).[0m ×2 + 32.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153628 ms (missed cycles : 3). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153628 ms (missed cycles : 3).[0m ×2 + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050352 ms (missed cycles : 3). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050352 ms (missed cycles : 3).[0m ×2 + 34.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249510 ms (missed cycles : 4). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249510 ms (missed cycles : 4).[0m ×2 + 35.89sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380295 ms (missed cycles : 4). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380295 ms (missed cycles : 4).[0m ×2 + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891977 ms (missed cycles : 3). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891977 ms (missed cycles : 3).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129204 ms (missed cycles : 5). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129204 ms (missed cycles : 5).[0m ×2 + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793882 ms (missed cycles : 2). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793882 ms (missed cycles : 2).[0m ×2 + 40.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700944 ms (missed cycles : 2). + 40.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700944 ms (missed cycles : 2).[0m ×2 + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055845 ms (missed cycles : 2). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055845 ms (missed cycles : 2).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823037 ms (missed cycles : 3). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823037 ms (missed cycles : 3).[0m ×2 + 43.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432452 ms (missed cycles : 4). + 43.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432452 ms (missed cycles : 4).[0m ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210013 ms (missed cycles : 2). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210013 ms (missed cycles : 2).[0m ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.508273 ms (missed cycles : 7). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.508273 ms (missed cycles : 7).[0m ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280069 ms (missed cycles : 2). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280069 ms (missed cycles : 2).[0m ×2 + 47.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930333 ms (missed cycles : 2). + 47.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930333 ms (missed cycles : 2).[0m ×2 + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949897 ms (missed cycles : 2). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949897 ms (missed cycles : 2).[0m ×2 + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545016 ms (missed cycles : 3). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545016 ms (missed cycles : 3).[0m ×2 + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.126410 ms (missed cycles : 7). + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.126410 ms (missed cycles : 7).[0m ×2 + 51.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556893 ms (missed cycles : 3). + 51.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556893 ms (missed cycles : 3).[0m ×2 + 52.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867655 ms (missed cycles : 2). + 52.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867655 ms (missed cycles : 2).[0m ×2 + 53.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766041 ms (missed cycles : 4). + 53.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766041 ms (missed cycles : 4).[0m ×2 + 54.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124813 ms (missed cycles : 2). + 54.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124813 ms (missed cycles : 2).[0m ×2 + 55.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.797369 ms (missed cycles : 6). + 55.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.797369 ms (missed cycles : 6).[0m ×2 + 56.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940100 ms (missed cycles : 2). + 56.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940100 ms (missed cycles : 2).[0m ×2 + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3).[0m ×2 + 59.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4). + 59.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4).[0m ×2 + 60.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3). + 60.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3).[0m ×2 + 61.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2). + 61.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2).[0m ×2 + 61.55sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789160160.95426059 seconds ×3 + 61.61sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.61sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.71sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 9.16) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.71sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 62.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 62.09sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 62.13sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789160161.52919698 seconds. ×3 + 62.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5). + 62.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5).[0m ×2 + 62.55sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 62.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5). + 63.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.1s | 191 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.25sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789160338.03033519 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.58) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 10.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 9.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 4.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 4.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.84sINFOobjective_server_node ×4 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789160338.60043526 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (1.664e-06 s). ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.634598 ms (missed cycles : 7). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.634598 ms (missed cycles : 7).[0m ×2 + 7.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 7.47sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.47sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.47sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.48sINFOros2_control_nodeAccepted new action goal[0m ×6 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903570 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903570 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747830 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747830 ms (missed cycles : 3).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904502 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904502 ms (missed cycles : 2).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093274 ms (missed cycles : 5). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093274 ms (missed cycles : 5).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674576 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674576 ms (missed cycles : 2).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069089 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069089 ms (missed cycles : 2).[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740466 ms (missed cycles : 4). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740466 ms (missed cycles : 4).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726376 ms (missed cycles : 3). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726376 ms (missed cycles : 3).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132518 ms (missed cycles : 7). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132518 ms (missed cycles : 7).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942387 ms (missed cycles : 4). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942387 ms (missed cycles : 4).[0m ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.924497 ms (missed cycles : 6). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.924497 ms (missed cycles : 6).[0m ×2 + 18.67sINFOros2_control_nodeMuJoCo sim: 3.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669172 ms (missed cycles : 3). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669172 ms (missed cycles : 3).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713946 ms (missed cycles : 3). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713946 ms (missed cycles : 3).[0m ×2 + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663153 ms (missed cycles : 2). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663153 ms (missed cycles : 2).[0m ×2 + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.966929 ms (missed cycles : 8). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.966929 ms (missed cycles : 8).[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439198 ms (missed cycles : 3). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439198 ms (missed cycles : 3).[0m ×2 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462975 ms (missed cycles : 3). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462975 ms (missed cycles : 3).[0m ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943646 ms (missed cycles : 2). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943646 ms (missed cycles : 2).[0m ×2 + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048447 ms (missed cycles : 4). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048447 ms (missed cycles : 4).[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.696425 ms (missed cycles : 7). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.696425 ms (missed cycles : 7).[0m ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317524 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317524 ms (missed cycles : 2).[0m ×2 + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216743 ms (missed cycles : 2). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216743 ms (missed cycles : 2).[0m ×2 + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.016768 ms (missed cycles : 7). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.016768 ms (missed cycles : 7).[0m ×2 + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817111 ms (missed cycles : 2). + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817111 ms (missed cycles : 2).[0m ×2 + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921556 ms (missed cycles : 3). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921556 ms (missed cycles : 3).[0m ×2 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845718 ms (missed cycles : 2). + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845718 ms (missed cycles : 2).[0m ×2 + 34.74sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635245 ms (missed cycles : 4). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635245 ms (missed cycles : 4).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523284 ms (missed cycles : 3). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523284 ms (missed cycles : 3).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809247 ms (missed cycles : 2). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809247 ms (missed cycles : 2).[0m ×2 + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757875 ms (missed cycles : 3). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757875 ms (missed cycles : 3).[0m ×2 + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464936 ms (missed cycles : 3). + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464936 ms (missed cycles : 3).[0m ×2 + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465597 ms (missed cycles : 3). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465597 ms (missed cycles : 3).[0m ×2 + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438170 ms (missed cycles : 5). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438170 ms (missed cycles : 5).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737312 ms (missed cycles : 2). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737312 ms (missed cycles : 2).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999085 ms (missed cycles : 4). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999085 ms (missed cycles : 4).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.913488 ms (missed cycles : 6). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.913488 ms (missed cycles : 6).[0m ×2 + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540328 ms (missed cycles : 3). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540328 ms (missed cycles : 3).[0m ×2 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819168 ms (missed cycles : 3). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819168 ms (missed cycles : 3).[0m ×2 + 47.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817118 ms (missed cycles : 3). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817118 ms (missed cycles : 3).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856582 ms (missed cycles : 2). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856582 ms (missed cycles : 2).[0m ×2 + 49.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886634 ms (missed cycles : 2). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886634 ms (missed cycles : 2).[0m ×2 + 50.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611148 ms (missed cycles : 3). + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611148 ms (missed cycles : 3).[0m ×2 + 52.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048790 ms (missed cycles : 2). + 52.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048790 ms (missed cycles : 2).[0m ×2 + 53.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567243 ms (missed cycles : 2). + 53.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567243 ms (missed cycles : 2).[0m ×2 + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831517 ms (missed cycles : 2). + 54.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831517 ms (missed cycles : 2).[0m ×2 + 55.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729200 ms (missed cycles : 3). + 55.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729200 ms (missed cycles : 3).[0m ×2 + 56.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666675 ms (missed cycles : 3). + 56.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666675 ms (missed cycles : 3).[0m ×2 + 57.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698995 ms (missed cycles : 2). + 57.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698995 ms (missed cycles : 2).[0m ×2 + 58.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367582 ms (missed cycles : 4). + 58.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367582 ms (missed cycles : 4).[0m ×2 + 59.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810901 ms (missed cycles : 2). + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810901 ms (missed cycles : 2).[0m ×2 + 60.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344850 ms (missed cycles : 4). + 60.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344850 ms (missed cycles : 4).[0m ×2 + 60.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789160394.14070678 seconds ×3 + 60.48sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 60.48sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 60.58sWARNlocal_costmap.local_costmapSensor origin at (-1.73, 8.11) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 60.58sWARNlocal_costmap.local_costmapSensor origin at (-2.63, 8.14) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 60.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
+ 60.95sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789160394.71355653 seconds. ×3 + 61.38sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 61.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877422 ms (missed cycles : 3). + 61.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877422 ms (missed cycles : 3).[0m ×2 + 62.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806324 ms (missed cycles : 2). + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806324 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.5s | 178 warnings · 89 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382906 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382906 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975171 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975171 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290302 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290302 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474035 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474035 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.25sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789160198.41932130 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789160198.98308134 seconds. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778418 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778418 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970266 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970266 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.23sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.183358 ms (missed cycles : 7). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.183358 ms (missed cycles : 7).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796718 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796718 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977491 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977491 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.233370 ms (missed cycles : 8). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.233370 ms (missed cycles : 8).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.485663 ms (missed cycles : 7). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.485663 ms (missed cycles : 7).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990109 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990109 ms (missed cycles : 3).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065851 ms (missed cycles : 7). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065851 ms (missed cycles : 7).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688117 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688117 ms (missed cycles : 3).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.766522 ms (missed cycles : 8). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.766522 ms (missed cycles : 8).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.439883 ms (missed cycles : 8). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.439883 ms (missed cycles : 8).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608793 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608793 ms (missed cycles : 3).[0m ×2 + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773674 ms (missed cycles : 2). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773674 ms (missed cycles : 2).[0m ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453498 ms (missed cycles : 2). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453498 ms (missed cycles : 2).[0m ×2 + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.224582 ms (missed cycles : 6). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.224582 ms (missed cycles : 6).[0m ×2 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839496 ms (missed cycles : 3). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839496 ms (missed cycles : 3).[0m ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970530 ms (missed cycles : 3). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970530 ms (missed cycles : 3).[0m ×2 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685097 ms (missed cycles : 3). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685097 ms (missed cycles : 3).[0m ×2 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183705 ms (missed cycles : 5). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183705 ms (missed cycles : 5).[0m ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444028 ms (missed cycles : 3). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444028 ms (missed cycles : 3).[0m ×2 + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122490 ms (missed cycles : 5). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122490 ms (missed cycles : 5).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218984 ms (missed cycles : 4). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218984 ms (missed cycles : 4).[0m ×2 + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935685 ms (missed cycles : 2). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935685 ms (missed cycles : 2).[0m ×2 + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063967 ms (missed cycles : 4). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063967 ms (missed cycles : 4).[0m ×2 + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879753 ms (missed cycles : 3). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879753 ms (missed cycles : 3).[0m ×2 + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860338 ms (missed cycles : 3). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860338 ms (missed cycles : 3).[0m ×2 + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724080 ms (missed cycles : 3). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724080 ms (missed cycles : 3).[0m ×2 + 33.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729655 ms (missed cycles : 3). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729655 ms (missed cycles : 3).[0m ×2 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401258 ms (missed cycles : 3). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401258 ms (missed cycles : 3).[0m ×2 + 35.09sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.85sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 35.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.246040 ms (missed cycles : 7). + 35.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.246040 ms (missed cycles : 7).[0m ×2 + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130735 ms (missed cycles : 2). + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130735 ms (missed cycles : 2).[0m ×2 + 37.26sINFOros2_control_nodeMuJoCo sim: 3.12% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.836608 ms (missed cycles : 6). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.836608 ms (missed cycles : 6).[0m ×2 + 38.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320656 ms (missed cycles : 2). + 38.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320656 ms (missed cycles : 2).[0m ×2 + 40.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992397 ms (missed cycles : 2). + 40.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992397 ms (missed cycles : 2).[0m ×2 + 41.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.748615 ms (missed cycles : 6). + 41.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.748615 ms (missed cycles : 6).[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298397 ms (missed cycles : 2). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298397 ms (missed cycles : 2).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142311 ms (missed cycles : 5). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142311 ms (missed cycles : 5).[0m ×2 + 44.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666789 ms (missed cycles : 2). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666789 ms (missed cycles : 2).[0m ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720817 ms (missed cycles : 3). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720817 ms (missed cycles : 3).[0m ×2 + 46.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990385 ms (missed cycles : 2). + 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990385 ms (missed cycles : 2).[0m ×2 + 47.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440480 ms (missed cycles : 3). + 47.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440480 ms (missed cycles : 3).[0m ×2 + 48.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724007 ms (missed cycles : 3). + 48.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724007 ms (missed cycles : 3).[0m ×2 + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749576 ms (missed cycles : 3). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749576 ms (missed cycles : 3).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021251 ms (missed cycles : 2). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021251 ms (missed cycles : 2).[0m ×2 + 51.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726838 ms (missed cycles : 3). + 51.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726838 ms (missed cycles : 3).[0m ×2 + 53.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157264 ms (missed cycles : 5). + 53.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157264 ms (missed cycles : 5).[0m ×2 + 54.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128475 ms (missed cycles : 4). + 54.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128475 ms (missed cycles : 4).[0m ×2 + 55.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445909 ms (missed cycles : 3). + 55.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445909 ms (missed cycles : 3).[0m ×2 + 56.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857127 ms (missed cycles : 2). + 56.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857127 ms (missed cycles : 2).[0m ×2 + 57.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.863823 ms (missed cycles : 6). + 57.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.863823 ms (missed cycles : 6).[0m ×2 + 58.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129018 ms (missed cycles : 4). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129018 ms (missed cycles : 4).[0m ×2 + 58.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789160253.92316699 seconds ×3 + 58.88sWARNlocal_costmap.local_costmapSensor origin at (-1.79, 10.61) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 58.88sWARNlocal_costmap.local_costmapSensor origin at (-2.52, 11.12) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
+ 59.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 59.37sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789160254.50337219 seconds. ×3 + 59.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720269 ms (missed cycles : 3). + 59.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720269 ms (missed cycles : 3).[0m ×2 + 59.86sINFOobjective_server_nodeFound path in 0 iterations (1.187e-06 s). ×2 + 60.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378662 ms (missed cycles : 4). + 60.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378662 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 147 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.09sINFOobjective_server_node ×12 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466258 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466258 ms (missed cycles : 3).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874639 ms (missed cycles : 6). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.874639 ms (missed cycles : 6).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309344 ms (missed cycles : 4). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309344 ms (missed cycles : 4).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288310 ms (missed cycles : 4). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288310 ms (missed cycles : 4).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917649 ms (missed cycles : 5). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917649 ms (missed cycles : 5).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.847159 ms (missed cycles : 6). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.847159 ms (missed cycles : 6).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.484023 ms (missed cycles : 6). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.484023 ms (missed cycles : 6).[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979541 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979541 ms (missed cycles : 2).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.644635 ms (missed cycles : 6). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.644635 ms (missed cycles : 6).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383154 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383154 ms (missed cycles : 2).[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083554 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083554 ms (missed cycles : 2).[0m ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043944 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043944 ms (missed cycles : 2).[0m ×2 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.882274 ms (missed cycles : 6). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.882274 ms (missed cycles : 6).[0m ×2 + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.839975 ms (missed cycles : 6). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.839975 ms (missed cycles : 6).[0m ×2 + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427016 ms (missed cycles : 4). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427016 ms (missed cycles : 4).[0m ×2 + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692009 ms (missed cycles : 4). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692009 ms (missed cycles : 4).[0m ×2 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083616 ms (missed cycles : 2). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083616 ms (missed cycles : 2).[0m ×2 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148922 ms (missed cycles : 2). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148922 ms (missed cycles : 2).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377238 ms (missed cycles : 2). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377238 ms (missed cycles : 2).[0m ×2 + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543973 ms (missed cycles : 3). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543973 ms (missed cycles : 3).[0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637351 ms (missed cycles : 2). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637351 ms (missed cycles : 2).[0m ×2 + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384614 ms (missed cycles : 4). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384614 ms (missed cycles : 4).[0m ×2 + 30.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610673 ms (missed cycles : 2). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610673 ms (missed cycles : 2).[0m ×2 + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946742 ms (missed cycles : 4). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946742 ms (missed cycles : 4).[0m ×2 + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125529 ms (missed cycles : 5). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125529 ms (missed cycles : 5).[0m ×2 + 33.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871880 ms (missed cycles : 3). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871880 ms (missed cycles : 3).[0m ×2 + 34.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412294 ms (missed cycles : 4). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412294 ms (missed cycles : 4).[0m ×2 + 35.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244794 ms (missed cycles : 5). + 35.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244794 ms (missed cycles : 5).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.035425 ms (missed cycles : 8). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.035425 ms (missed cycles : 8).[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067009 ms (missed cycles : 2). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067009 ms (missed cycles : 2).[0m ×2 + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102131 ms (missed cycles : 3). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102131 ms (missed cycles : 3).[0m ×2 + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537549 ms (missed cycles : 3). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537549 ms (missed cycles : 3).[0m ×2 + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.176597 ms (missed cycles : 5). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.176597 ms (missed cycles : 5).[0m ×2 + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672770 ms (missed cycles : 3). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672770 ms (missed cycles : 3).[0m ×2 + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.850400 ms (missed cycles : 6). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.850400 ms (missed cycles : 6).[0m ×2 + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070832 ms (missed cycles : 2). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070832 ms (missed cycles : 2).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809307 ms (missed cycles : 3). + 45.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809307 ms (missed cycles : 3).[0m ×2 + 46.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878671 ms (missed cycles : 4). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878671 ms (missed cycles : 4).[0m ×2 + 47.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755877 ms (missed cycles : 2). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755877 ms (missed cycles : 2).[0m ×2 + 47.63sINFOjoint_trajectory_controllerGoal reached, success! + 47.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789160099.42133069 seconds ×3 + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6). + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6).[0m ×2 + 48.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 48.18sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 48.21sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789160099.98381710 seconds. ×3 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2).[0m ×2 + 49.42sINFOobjective_server_nodeFound path in 0 iterations (2.2553e-05 s). ×2 + 49.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.8s | 113 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340686 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340686 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099481 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099481 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.01sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789160165.63933969 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943425 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943425 ms (missed cycles : 2).[0m ×2 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125874 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125874 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
+ 4.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.54sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.54sINFOobjective_server_node ×4 + 4.57sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789160167.19918776 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451879 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451879 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906063 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906063 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 7.34sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.38sINFOjoint_trajectory_controllerReceived new action goal + 7.38sINFOjoint_trajectory_controllerAccepted new action goal + 7.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403739 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403739 ms (missed cycles : 4).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814573 ms (missed cycles : 6). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814573 ms (missed cycles : 6).[0m ×2 + 9.76sINFOros2_control_nodeMuJoCo sim: 3.08% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058652 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058652 ms (missed cycles : 4).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472392 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472392 ms (missed cycles : 3).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129602 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129602 ms (missed cycles : 2).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753485 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753485 ms (missed cycles : 2).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454123 ms (missed cycles : 4). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454123 ms (missed cycles : 4).[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906920 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906920 ms (missed cycles : 3).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825854 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825854 ms (missed cycles : 2).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871812 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871812 ms (missed cycles : 2).[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196109 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196109 ms (missed cycles : 2).[0m ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542531 ms (missed cycles : 4). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542531 ms (missed cycles : 4).[0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696996 ms (missed cycles : 3). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696996 ms (missed cycles : 3).[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786242 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786242 ms (missed cycles : 2).[0m ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780597 ms (missed cycles : 6). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780597 ms (missed cycles : 6).[0m ×2 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270043 ms (missed cycles : 3). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270043 ms (missed cycles : 3).[0m ×2 + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565381 ms (missed cycles : 4). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565381 ms (missed cycles : 4).[0m ×2 + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116556 ms (missed cycles : 6). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116556 ms (missed cycles : 6).[0m ×2 + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563860 ms (missed cycles : 3). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563860 ms (missed cycles : 3).[0m ×2 + 28.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645024 ms (missed cycles : 3). + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645024 ms (missed cycles : 3).[0m ×2 + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664339 ms (missed cycles : 3). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664339 ms (missed cycles : 3).[0m ×2 + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.290663 ms (missed cycles : 7). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.290663 ms (missed cycles : 7).[0m ×2 + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593134 ms (missed cycles : 5). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593134 ms (missed cycles : 5).[0m ×2 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382906 ms (missed cycles : 5). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382906 ms (missed cycles : 5).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975171 ms (missed cycles : 3). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975171 ms (missed cycles : 3).[0m ×2 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290302 ms (missed cycles : 6). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290302 ms (missed cycles : 6).[0m ×2 + 35.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474035 ms (missed cycles : 4). + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474035 ms (missed cycles : 4).[0m ×2 + 35.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789160198.41932130 seconds ×3 + 35.87sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.87sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 36.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
+ 36.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 36.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789160198.98308134 seconds. ×3 + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778418 ms (missed cycles : 3). + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778418 ms (missed cycles : 3).[0m ×2 + 36.82sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970266 ms (missed cycles : 3). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970266 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.5s | 64 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666675 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666675 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698995 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698995 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367582 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367582 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810901 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810901 ms (missed cycles : 2).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344850 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344850 ms (missed cycles : 4).[0m ×2 + 4.20sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789160394.14070678 seconds ×3 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.37sWARNlocal_costmap.local_costmapSensor origin at (-1.73, 8.11) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.37sWARNlocal_costmap.local_costmapSensor origin at (-2.63, 8.14) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
+ 4.74sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.74sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.74sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.74sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.74sINFOobjective_server_node ×6 + 4.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789160394.71355653 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877422 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877422 ms (missed cycles : 3).[0m ×2 + 5.24sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.24sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806324 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806324 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054110 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054110 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.439402 ms (missed cycles : 4). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.439402 ms (missed cycles : 4).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815095 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815095 ms (missed cycles : 3).[0m ×2 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 9.57sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (1.115e-06 s). ×2 + 9.65sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 9.76sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055483 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055483 ms (missed cycles : 2).[0m ×2 + 10.38sINFOobjective_server_nodeFound path in 69 iterations (0.0639626 s). ×2 + 10.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 10.74sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 11.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280218 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280218 ms (missed cycles : 2).[0m ×2 + 11.71sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.75sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523099 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523099 ms (missed cycles : 3).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799566 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799566 ms (missed cycles : 2).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953375 ms (missed cycles : 6). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953375 ms (missed cycles : 6).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.751847 ms (missed cycles : 6). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.751847 ms (missed cycles : 6).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.825472 ms (missed cycles : 6). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.825472 ms (missed cycles : 6).[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573312 ms (missed cycles : 4). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573312 ms (missed cycles : 4).[0m ×2 + 17.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789160407.68563461 seconds ×3 + 18.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 18.28sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 18.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160408.26933193 seconds. ×3 + 18.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.34sINFOmove_groupClearing octomap...[0m ×2 + 18.34sINFOmove_groupOctomap cleared.[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912916 ms (missed cycles : 5). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912916 ms (missed cycles : 5).[0m ×2 + 18.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160408.84945107 seconds ×3 + 19.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 19.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 19.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789160409.42631292 seconds. ×3 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669687 ms (missed cycles : 2). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669687 ms (missed cycles : 2).[0m ×2 + 19.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789160409.91886926 seconds ×3 + 20.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 89 errors · 33 warnings · 452 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.751847 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.751847 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.825472 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.825472 ms (missed cycles : 6).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573312 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573312 ms (missed cycles : 4).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789160407.68563461 seconds ×3 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160408.26933193 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912916 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912916 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160408.84945107 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.97sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789160409.42631292 seconds. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669687 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669687 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789160409.91886926 seconds ×3 + 4.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014615 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014615 ms (missed cycles : 4).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123714 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123714 ms (missed cycles : 3).[0m ×2 + 6.98sINFOros2_control_nodeMuJoCo sim: 4.09% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640191 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640191 ms (missed cycles : 3).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728098 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728098 ms (missed cycles : 3).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.582175 ms (missed cycles : 7). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.582175 ms (missed cycles : 7).[0m ×2 + 10.36sERRORweb_video_server-32process[web_video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sINFOweb_video_server-32sending signal 'SIGTERM' to process[web_video_server-32] ×2 + 10.39sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 10.43sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 10.52sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 10.54sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 10.56sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.59sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.62sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.62sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.65sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.68sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.70sINFOtf2_web_republisher_node-31process has finished cleanly [pid 10247] ×2 + 10.70sINFOweb_video_server-32process has finished cleanly [pid 10250] ×2 + 10.70sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.73sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979721 ms (missed cycles : 2). + 10.77sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.80sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.81sINFOcontroller_managerShutdown request received.... + 10.81sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.81sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.81sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.81sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.81sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.81sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.81sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.81sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.81sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.81sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.81sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.81sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.81sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.81sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.81sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.81sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.81sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.81sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.81sINFOcontroller_managerShutting down the controller manager. + 10.83sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1789160415.951 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.83sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.84sERRORmove_group-20process has died [pid 10177, 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_ux424g49 --params-file /tmp/launch_params_buugbp3s --params-file /tmp/launch_params_cvsg19su --params-file /tmp/launch_params_8kw4jtw9 --params-file /tmp/launch_params_axxsgvu5 --params-file /tmp/launch_params__g12lvfn --params-file /tmp/launch_params_is7gl89j --params-file /tmp/launch_params_okjseb22 --params-file /tmp/launch_params_ct8nmylj']. ×2 + 10.84sERRORui_teleop_bridge-29process has died [pid 10245, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_9mj_q2fj']. ×2 + 10.86sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.88sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.89sINFOcomponent_container_mt-27process has finished cleanly [pid 10241] ×2 + 10.91sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.92sINFOexecute_objective_bridge-28process has finished cleanly [pid 10244] ×2 + 10.92sERRORobjective_server_node_main-25process has died [pid 10239, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_b721itcs --params-file /tmp/launch_params_treji_z3 --params-file /tmp/launch_params_lgu_61ow --params-file /tmp/launch_params_dcxq0ke4 --params-file /tmp/launch_params_6aluar6q --params-file /tmp/launch_params_j7ww4fux']. ×2 + 10.93sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.95sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.97sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.97sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.97sINFOmap_serverDeactivating + 10.97sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.97sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.98sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.98sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.2', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.98sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.98sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.98sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.98sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.98sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.98sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.98sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.98sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.98sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.98sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.98sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.98sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.98sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 10.98sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOmap_serverCleaning up + 10.98sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.98sINFOcontroller_serverDeactivating + 10.98sINFOlocal_costmap.local_costmapDeactivating + 10.98sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.99sINFOobjective_server_node[2026-09-11 21:00:16.168] [moveit_pro_license] [critical] ×2 + 10.99sINFOobjective_server_node************************************************* ×4 + 10.99sINFOobjective_server_node* MoveIt Pro License ×2 + 10.99sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 10.99sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979721 ms (missed cycles : 2).[0m ×2 + 10.99sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.99sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.99sERRORmove_groupStack trace (most recent call last) in thread 10694: ×2 + 10.99sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.99sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1943a63a63, in __clone ×2 + 10.99sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f19439d6aa3, in ×2 + 10.99sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1943c66db3, in ×2 + 10.99sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.2", at 0x7f19442bd1a7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.99sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1943fdb4d0, in rclcpp::Rate::sleep() ×2 + 10.99sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1943f2ea88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.99sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1943ef3a71, in ×2 + 10.99sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1943c35390, in __cxa_throw ×2 + 10.99sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1943c1fa54, in std::terminate() ×2 + 10.99sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1943c350d9, in ×2 + 10.99sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1943c1fff4, in ×2 + 10.99sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f19439628fe, in abort ×2 + 10.99sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f194397f27d, in raise ×2 + 10.99sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f19439d8b2c, in pthread_kill ×2 + 10.99sERRORmove_groupAborted (Signal sent by tkill() 10177 0) ×2 + 10.99sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.99sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5608944bc6a4, in _start ×2 + 10.99sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2a31fcb28a, in __libc_start_main ×2 + 10.99sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2a31fcb1d0, in ×2 + 10.99sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2a31fe8bbd, in exit ×2 + 10.99sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2a31fe8a75, in ×2 + 10.99sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f2a324b78f5, in spdlog::details::registry::~registry() ×2 + 10.99sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5608944bcd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.99sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5608944c3315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.99sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5608944c25a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.99sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5608944beb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.99sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5608944bcd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.99sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2a32b86454, in rclcpp::Node::~Node() ×2 + 10.99sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2a32b41515, in ×2 + 10.99sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2a32b84d20, in ×2 + 10.99sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2a32b84c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.99sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2a32b415d9, in ×2 + 10.99sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2a32b46161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.99sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f29fc4b0bb0]) ×2 + 11.00sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.00sINFOcontroller_serverCleaning up + 11.00sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.00sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.00sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.00sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.00sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.00sINFOlocal_costmap.local_costmapCleaning up + 11.00sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.00sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.00sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.00sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.00sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.00sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.00sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.00sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.00sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.00sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.00sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.00sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.00sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.00sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.00sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.00sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.00sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.00sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.00sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.00sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.00sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.01sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.01sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.01sINFOodom_qos_relay.pymain() ×2 + 11.01sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.01sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.01sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.01sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.01sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.01sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.01sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.01sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.01sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.01sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.02sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.02sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.02sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.02sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.04sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.04sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.05sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.05sINFOsmoother_serverDeactivating + 11.05sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.06sINFOsmoother_serverCleaning up + 11.08sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.08sINFOplanner_serverDeactivating + 11.08sINFOglobal_costmap.global_costmapDeactivating + 11.16sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.16sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.16sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.16sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.16sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.16sINFOvelocity_smootherDeactivating + 11.16sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.27sINFOwaypoint_followerDeactivating + 11.27sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.39sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.39sINFObt_navigatorDeactivating + 11.39sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.50sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.50sINFObehavior_serverDeactivating + 11.50sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.61sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.61sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.61sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.61sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.61sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.62sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.62sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.62sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.62sINFOvelocity_smootherCleaning up + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.62sINFOwaypoint_followerCleaning up + 11.65sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.65sINFObt_navigatorCleaning up + 11.70sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10226] ×2 + 11.70sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.70sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.71sINFOplanner_serverCleaning up + 11.73sINFOglobal_costmap.global_costmapCleaning up + 11.74sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.74sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10180] ×2 + 11.74sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.77sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.77sINFObehavior_serverCleaning up + 11.78sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.78sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.78sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.78sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.79sINFOparameter_manager_node-21process has finished cleanly [pid 10178] ×2 + 11.80sINFOwaypoint_manager_node-22process has finished cleanly [pid 10179] ×2 + 11.82sINFOcomponent_container_mt-26process has finished cleanly [pid 10240] ×2 + 11.83sINFObt_navigatorCompleted Cleaning up + 11.83sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.88sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10087] ×2 + 11.88sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.88sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.88sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.88sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.88sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.88sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.88sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.88sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.90sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10086] ×2 + 11.96sINFOstatic_transform_publisher-4process has finished cleanly [pid 10084] ×2 + 11.97sINFOstatic_transform_publisher-3process has finished cleanly [pid 10083] ×2 + 11.99sERRORodom_qos_relay.py-5process has died [pid 10085, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.00sINFOstatic_transform_publisher-2process has finished cleanly [pid 10082] ×2 + 12.15sERRORcomponent_container_isolated-1process has died [pid 10081, exit code -6, 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_w2nmy410 --params-file /tmp/launch_params_i41hv2bv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.35sINFOweb_bridge-30process has finished cleanly [pid 10246] ×2 + 13.35sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 13.49sINFOros2_control_node-8process has finished cleanly [pid 10088] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 55 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445909 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445909 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857127 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857127 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.863823 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.863823 ms (missed cycles : 6).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129018 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129018 ms (missed cycles : 4).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789160253.92316699 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.79sWARNlocal_costmap.local_costmapSensor origin at (-1.79, 10.61) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.79sWARNlocal_costmap.local_costmapSensor origin at (-2.52, 11.12) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
+ 4.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.25sINFOobjective_server_node ×4 + 4.29sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789160254.50337219 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720269 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720269 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (1.187e-06 s). ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378662 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378662 ms (missed cycles : 4).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072380 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072380 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078941 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078941 ms (missed cycles : 2).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592741 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592741 ms (missed cycles : 3).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621520 ms (missed cycles : 6). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621520 ms (missed cycles : 6).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389866 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389866 ms (missed cycles : 2).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.079598 ms (missed cycles : 6). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.079598 ms (missed cycles : 6).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875354 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875354 ms (missed cycles : 3).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765229 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765229 ms (missed cycles : 2).[0m ×2 + 14.47sINFOjoint_trajectory_controllerGot request to cancel goal + 14.47sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.47sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.47sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1789160264.73424411 seconds ×3 + 14.59sWARNlocal_costmap.local_costmapSensor origin at (-0.66, 3.74) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 14.59sWARNlocal_costmap.local_costmapSensor origin at (-1.56, 3.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 15.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
+ 15.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875858 ms (missed cycles : 4). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875858 ms (missed cycles : 4).[0m ×2 + 15.08sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789160265.30015612 seconds. ×3 + 15.53sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062685 ms (missed cycles : 5). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062685 ms (missed cycles : 5).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096966 ms (missed cycles : 5). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096966 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 40 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.53sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789160160.95426059 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 9.16) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.08sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.08sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.08sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.08sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.08sINFOobjective_server_node ×4 + 4.11sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789160161.52919698 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340686 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340686 ms (missed cycles : 4).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099481 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099481 ms (missed cycles : 3).[0m ×2 + 8.22sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789160165.63933969 seconds ×3 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943425 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943425 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125874 ms (missed cycles : 5). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125874 ms (missed cycles : 5).[0m ×2 + 9.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
+ 9.75sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 9.78sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789160167.19918776 seconds. ×3 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451879 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451879 ms (missed cycles : 4).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906063 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906063 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.9s | 30 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070832 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070832 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809307 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809307 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878671 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878671 ms (missed cycles : 4).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755877 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755877 ms (missed cycles : 2).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789160099.42133069 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 4.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.12sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 4.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.12sINFOobjective_server_node ×4 + 4.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789160099.98381710 seconds. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.2553e-05 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467948 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467948 ms (missed cycles : 2).[0m ×2 + 7.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789160103.33395314 seconds ×3 + 8.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
+ 8.02sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789160103.89414191 seconds. ×3 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449730 ms (missed cycles : 3). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449730 ms (missed cycles : 3).[0m ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874373 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874373 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 21 warnings · 54 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953375 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.751847 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.751847 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.825472 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.825472 ms (missed cycles : 6).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573312 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573312 ms (missed cycles : 4).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789160407.68563461 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.86sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.86sINFOobjective_server_node ×4 + 3.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160408.26933193 seconds. ×3 + 3.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.92sINFOmove_groupClearing octomap...[0m ×2 + 3.92sINFOmove_groupOctomap cleared.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912916 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912916 ms (missed cycles : 5).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160408.84945107 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 5.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789160409.42631292 seconds. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669687 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669687 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789160409.91886926 seconds ×3 + 5.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014615 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014615 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 165 info |
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.19sINFOobjective_server_node ×10 + 4.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.23sINFOmove_groupClearing octomap...[0m ×2 + 4.23sINFOmove_groupOctomap cleared.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 6.14sINFOobjective_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 + 6.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 6.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 6.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 72 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789160099.42133069 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.56sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.56sINFOobjective_server_node ×4 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789160099.98381710 seconds. ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeFound path in 0 iterations (2.2553e-05 s). ×2 + 1.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOjoint_trajectory_controllerReceived new action goal + 1.82sINFOjoint_trajectory_controllerAccepted new action goal + 1.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467948 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467948 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789160103.33395314 seconds ×3 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
+ 4.46sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 4.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789160103.89414191 seconds. ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449730 ms (missed cycles : 3). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449730 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874373 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874373 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 25 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789160338.03033519 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.58) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 10.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 9.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 4.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 4.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.84sINFOobjective_server_node ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789160338.60043526 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (1.664e-06 s). ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 165 info |
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.19sINFOobjective_server_node ×10 + 4.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.23sINFOmove_groupClearing octomap...[0m ×2 + 4.23sINFOmove_groupOctomap cleared.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 6.14sINFOobjective_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 + 6.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 6.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 6.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070832 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070832 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809307 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809307 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878671 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878671 ms (missed cycles : 4).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755877 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755877 ms (missed cycles : 2).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789160099.42133069 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 4.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.12sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 4.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.12sINFOobjective_server_node ×2 + 4.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789160099.98381710 seconds. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.2553e-05 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070832 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070832 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809307 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809307 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878671 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878671 ms (missed cycles : 4).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755877 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755877 ms (missed cycles : 2).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789160099.42133069 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.817880 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
+ 4.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.12sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 4.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.12sINFOobjective_server_node ×2 + 4.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789160099.98381710 seconds. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235412 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (2.2553e-05 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116358 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 22 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789160160.95426059 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 9.16) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.08sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.08sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.08sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.08sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.08sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789160161.52919698 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 22 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789160160.95426059 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 9.16) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.08sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.08sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.08sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.08sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.08sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789160161.52919698 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 22 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789160160.95426059 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 9.16) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.08sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.08sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.08sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.08sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.08sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789160161.52919698 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 22 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789160160.95426059 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 9.16) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.08sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.08sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.08sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.08sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.08sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789160161.52919698 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 22 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866701 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945671 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418145 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040684 ms (missed cycles : 2).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789160160.95426059 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.59sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 9.16) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
+ 4.08sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.08sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.08sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.08sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.08sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789160161.52919698 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983055 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695861 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 20 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382906 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382906 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975171 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975171 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290302 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290302 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474035 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474035 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789160198.41932130 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789160198.98308134 seconds. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778418 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778418 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970266 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970266 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 20 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382906 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382906 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975171 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975171 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290302 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290302 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474035 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474035 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789160198.41932130 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789160198.98308134 seconds. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778418 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778418 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970266 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970266 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 20 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382906 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382906 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975171 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975171 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290302 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290302 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474035 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474035 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789160198.41932130 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789160198.98308134 seconds. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778418 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778418 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970266 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970266 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 165 info |
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.19sINFOobjective_server_node ×10 + 4.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.23sINFOmove_groupClearing octomap...[0m ×2 + 4.23sINFOmove_groupOctomap cleared.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 6.14sINFOobjective_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 + 6.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 6.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 6.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 25 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789160338.03033519 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.58) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 10.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 9.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 4.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 4.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.84sINFOobjective_server_node ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789160338.60043526 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (1.664e-06 s). ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 25 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789160338.03033519 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.58) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 10.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 9.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 4.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 4.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.84sINFOobjective_server_node ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789160338.60043526 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (1.664e-06 s). ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 25 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789160338.03033519 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.58) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 10.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 9.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 4.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 4.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.84sINFOobjective_server_node ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789160338.60043526 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (1.664e-06 s). ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789160338.03033519 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.58) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 10.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 9.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 4.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 4.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.84sINFOobjective_server_node ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789160338.60043526 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (1.664e-06 s). ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 25 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789160338.03033519 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.58) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 10.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 9.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 4.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 4.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.84sINFOobjective_server_node ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789160338.60043526 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (1.664e-06 s). ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 25 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789160338.03033519 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.58) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 10.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 9.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 4.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 4.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.84sINFOobjective_server_node ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789160338.60043526 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (1.664e-06 s). ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 25 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320222 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750731 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500339 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388393 ms (missed cycles : 3).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711088 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789160338.03033519 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.58) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 10.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.36, 9.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
+ 4.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 4.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.84sINFOobjective_server_node ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789160338.60043526 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830865 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (1.664e-06 s). ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 54 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953375 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.751847 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.751847 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.825472 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.825472 ms (missed cycles : 6).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573312 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573312 ms (missed cycles : 4).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789160407.68563461 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.86sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.86sINFOobjective_server_node ×4 + 3.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160408.26933193 seconds. ×3 + 3.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.92sINFOmove_groupClearing octomap...[0m ×2 + 3.92sINFOmove_groupOctomap cleared.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912916 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912916 ms (missed cycles : 5).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160408.84945107 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 5.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789160409.42631292 seconds. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669687 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669687 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789160409.91886926 seconds ×3 + 5.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 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 | 24 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.17sINFOobjective_server_node ×10 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 3.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.16sINFOjoint_trajectory_controllerReceived new action goal + 7.17sINFOjoint_trajectory_controllerAccepted new action goal + 7.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 184 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.40sINFOwaypoint_followerActivating + 0.40sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204609 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204609 ms (missed cycles : 5).[0m ×2 + 0.50sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.50sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.50sINFOvelocity_smootherActivating + 0.50sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.61sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.61sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.61sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.69sINFOobjective_server_node ×10 + 4.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 4.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.73sINFOmove_groupClearing octomap...[0m ×2 + 4.73sINFOmove_groupOctomap cleared.[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 5.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 6.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 6.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 6.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 6.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 7.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 7.24sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 7.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 7.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 165 info |
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.19sINFOobjective_server_node ×10 + 4.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.23sINFOmove_groupClearing octomap...[0m ×2 + 4.23sINFOmove_groupOctomap cleared.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 6.14sINFOobjective_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 + 6.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 6.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 6.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 155 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.40sINFOwaypoint_followerActivating + 0.40sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204609 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204609 ms (missed cycles : 5).[0m ×2 + 0.50sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.50sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.50sINFOvelocity_smootherActivating + 0.50sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.61sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.61sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.61sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 3.21sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 4.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 4.69sINFOobjective_server_node ×8 + 4.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 4.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.73sINFOmove_groupClearing octomap...[0m ×2 + 4.73sINFOmove_groupOctomap cleared.[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 5.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 6.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 6.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 6.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 6.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 158 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.17sINFOobjective_server_node ×10 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 3.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 165 info |
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.19sINFOobjective_server_node ×10 + 4.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.23sINFOmove_groupClearing octomap...[0m ×2 + 4.23sINFOmove_groupOctomap cleared.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 6.14sINFOobjective_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 + 6.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 6.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 6.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 165 info |
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.19sINFOobjective_server_node ×10 + 4.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.23sINFOmove_groupClearing octomap...[0m ×2 + 4.23sINFOmove_groupOctomap cleared.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 6.14sINFOobjective_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 + 6.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 6.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 6.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 165 info |
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743485 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 4.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 4.19sINFOobjective_server_node ×10 + 4.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.23sINFOmove_groupClearing octomap...[0m ×2 + 4.23sINFOmove_groupOctomap cleared.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 6.14sINFOobjective_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 + 6.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 6.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 6.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 6.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 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 | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 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 | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464399 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547385 ms (missed cycles : 4).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525916 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789160053.90258980 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789160053.91279745 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789160054.47121668 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789160054.48133183 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444414 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789160055.04925728 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789160055.19983888 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789160055.80492711 seconds. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575827 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789160055.88505006 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
+ 4.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789160056.44669676 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987448 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076917 ms (missed cycles : 2).[0m ×2 | ||||