118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
10.4s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.6s | 6906 errors · 153 warnings · 7126 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383327 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383327 ms (missed cycles : 4).[0m ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.14sINFOros2_control_node[2026-09-11 20:55:35.862] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-09-11 20:55:35.862] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930324 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930324 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401398 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401398 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285018 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285018 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789160139.46707082 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.205318 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.205318 ms (missed cycles : 6).[0m ×2 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
+ 4.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.37sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 4.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.37sINFOobjective_server_node ×4 + 4.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789160140.16642356 seconds. ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.62sINFOros2_control_node[2026-09-11 20:55:40.340] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-09-11 20:55:40.340] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521942 ms (missed cycles : 7). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521942 ms (missed cycles : 7).[0m ×2 + 5.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.91sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544006 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544006 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058980 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058980 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348680 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348680 ms (missed cycles : 2).[0m ×2 + 9.04sINFOjoint_trajectory_controllerReceived new action goal ×2302 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551141452421 + 9.04sINFOros2_control_nodeReceived new action goal[0m ×4604 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551141452421[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873510257500 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873510257500[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040619080168 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040619080168[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106979190611 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106979190611[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001112821520579 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001112821520579[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086101784988 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086101784988[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386703140715 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386703140715[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693389591775 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693389591775[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369796507985 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369796507985[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001141964867228 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001141964867228[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000989929306586 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000989929306586[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894998811301 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894998811301[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299354488549 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299354488549[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000403243263517 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000403243263517[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000670640530288 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000670640530288[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001320568779096 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001320568779096[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272488862803 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272488862803[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000491575630950 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000491575630950[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000510430059174 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000510430059174[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000754089928063 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000754089928063[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001396399394492 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001396399394492[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771796369192 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771796369192[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001469916586247 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001469916586247[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001254394579995 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001254394579995[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001108386101428 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001108386101428[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001015431625358 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001015431625358[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336592130609 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336592130609[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001152236751852 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001152236751852[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001036065320282 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001036065320282[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000969054623572 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000969054623572[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000935871208680 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000935871208680[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000924745250673 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000924745250673[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247274 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247274 ms (missed cycles : 2).[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001250616894866 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001250616894866[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954487393549 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954487393549[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000482777128147 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000482777128147[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000577043470726 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000577043470726[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000848301180418 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000848301180418[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531031602780 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531031602780[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001932828605808 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001932828605808[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002030507671043 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002030507671043[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001679397111528 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001679397111528[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001428056491773 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001428056491773[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257022747975 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257022747975[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001147295587803 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001147295587803[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001082606870918 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001082606870918[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001579464823056 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001579464823056[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584074867154 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584074867154[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001357348395483 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001357348395483[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001210818424698 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001210818424698[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001004099114679 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001004099114679[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001610753595282 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001610753595282[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438208877213 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438208877213[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001314455700477 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001314455700477[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001230517470376 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001230517470376[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577269367967 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577269367967[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386394029084 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386394029084[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001261035198373 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001261035198373[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001184571720181 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001184571720181[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142514872970 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142514872970[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001673266775843 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001673266775843[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001465863136807 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001465863136807[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336004395576 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336004395576[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001253054657877 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001253054657877[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001760725008345 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001760725008345[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515879688023 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515879688023[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355718825310 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355718825310[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001115513648937 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001115513648937[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001747727050344 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001747727050344[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567630799982 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567630799982[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004806257844 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004806257844[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694203884338 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694203884338[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001485293927328 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001485293927328[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352510494726 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352510494726[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001275040190894 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001275040190894[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380885003709 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380885003709[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001913743839673 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001913743839673[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001652808884570 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001652808884570[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500949400988 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500949400988[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981905736306 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981905736306[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693727055564 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693727055564[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895198087542 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895198087542[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626346743397 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626346743397[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454843589458 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454843589458[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352747062491 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352747062491[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886209217199 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886209217199[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634530973439 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634530973439[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001473442300812 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001473442300812[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001377457679622 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001377457679622[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919238947856 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919238947856[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001979326898911 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001979326898911[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001703799613743 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001703799613743[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001132093874278 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001132093874278[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001879741695597 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001879741695597[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788584875202 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788584875202[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002263540386007 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002263540386007[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471945543339 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471945543339[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002063171463650 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002063171463650[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001779851573992 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001779851573992[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002199517139620 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002199517139620[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001850319064164 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001850319064164[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623645913957 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623645913957[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002095991432679 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002095991432679[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386850375250 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386850375250[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021102643572 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021102643572[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002415175108979 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002415175108979[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477530574878 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477530574878[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002064846088369 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002064846088369[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001786479341576 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001786479341576[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672624314790 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672624314790[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386989797666 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386989797666[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001661568407548 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001661568407548[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002260805177305 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002260805177305[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968437327043 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968437327043[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002185423288068 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002185423288068[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553409625938 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553409625938[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002132183965651 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002132183965651[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478278879252 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478278879252[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456409 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456409 ms (missed cycles : 3).[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951047435001 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951047435001[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778171397292 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778171397292[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001756513229833 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001756513229833[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002306510577003 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002306510577003[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643154231018 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643154231018[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002194198736971 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002194198736971[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535215302091 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535215302091[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002100429197930 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002100429197930[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463006867863 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463006867863[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047202986424 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047202986424[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783367330182 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783367330182[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273990116917 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273990116917[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001944126559514 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001944126559514[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386447367578 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386447367578[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002018925880408 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002018925880408[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002436993705978 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002436993705978[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002050993703747 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002050993703747[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459359516768 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459359516768[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065457030242 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065457030242[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471451628846 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471451628846[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074526821985 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074526821985[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481187795417 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481187795417[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002083036897428 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002083036897428[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491275739940 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491275739940[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002092305918659 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002092305918659[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002514513979090 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002514513979090[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102205796705 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102205796705[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002505826109926 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002505826109926[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369704712898 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369704712898[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002175922382734 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002175922382734[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002678623381719 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002678623381719[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002971088340885 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002971088340885[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124628087578 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124628087578[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002520757895422 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002520757895422[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002790662628785 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002790662628785[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002283599164016 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002283599164016[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713082323935 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713082323935[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002226415615218 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002226415615218[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594070846610 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594070846610[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002158902767303 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002158902767303[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563363879072 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563363879072[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827216588808 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827216588808[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002166094463425 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002166094463425[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602817287957 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602817287957[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881116270193 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881116270193[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366936122559 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366936122559[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716955198592 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716955198592[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940394994019 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940394994019[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977820268063 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977820268063[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002414471266540 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002414471266540[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001393680489446 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001393680489446[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241493659733 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241493659733[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772043572061 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772043572061[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082162585394 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082162585394[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002381237263158 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002381237263158[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791161721349 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791161721349[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040097463721 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040097463721[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003180214534738 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003180214534738[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250319801535 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250319801535[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379881436862 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379881436862[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002665285685714 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002665285685714[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002896698487403 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002896698487403[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047902069548 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047902069548[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002446507840547 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002446507840547[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764160962696 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764160962696[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976351404726 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976351404726[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111893151376 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111893151376[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150124360577 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150124360577[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519052349001 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519052349001[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818254159688 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818254159688[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017469644429 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017469644429[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144153094643 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144153094643[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002518721163412 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002518721163412[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002966736105283 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002966736105283[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104699427399 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104699427399[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002489124949634 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002489124949634[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002805862703936 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002805862703936[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001718228556654 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001718228556654[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633451751145 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633451751145[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449670365274 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449670365274[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953219221716 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953219221716[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001920390512570 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001920390512570[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001721074440594 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001721074440594[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002026704582174 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002026704582174[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002702646674347 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002702646674347[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106267579292 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106267579292[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944880217112 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944880217112[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003850915408541 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003850915408541[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736544197912 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736544197912[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625788915424 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625788915424[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003530554668068 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003530554668068[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455145485299 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455145485299[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003399452286374 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003399452286374[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645967970225 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645967970225[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515147223299 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515147223299[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.122834 ms (missed cycles : 13). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.122834 ms (missed cycles : 13).[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003426741358195 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003426741358195[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001338063587873 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001338063587873[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903404721672 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903404721672[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659341171705 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659341171705[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114194124133 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114194124133[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365069024087 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365069024087[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211894223914 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211894223914[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013897789234 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013897789234[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833508601675 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833508601675[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683225901981 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683225901981[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566134864187 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566134864187[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480073161293 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480073161293[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420385718271 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420385718271[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879860198862 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879860198862[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003668871681428 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003668871681428[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526311295120 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526311295120[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001795321884475 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001795321884475[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463007035355 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463007035355[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236552544446 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236552544446[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010390301630 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010390301630[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822049065223 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822049065223[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003674249262353 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003674249262353[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135582601850 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135582601850[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852415096278 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852415096278[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653999939827 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653999939827[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521413405525 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521413405525[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739959958486 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739959958486[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888528780376 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888528780376[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736167052546 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736167052546[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003618549129688 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003618549129688[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531798047571 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531798047571[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470561749105 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470561749105[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325719602719 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325719602719[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326972162856 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326972162856[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004748829119120 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004748829119120[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283772332769 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283772332769[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945711446098 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945711446098[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710230718388 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710230718388[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553533042736 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553533042736[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409724618824 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409724618824[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989834429352 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989834429352[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708583544450 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708583544450[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775858806191 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775858806191[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627078170395 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627078170395[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524483470435 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524483470435[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003164880461196 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003164880461196[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238388077200 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238388077200[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723058254909 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723058254909[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290312674974 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290312674974[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966457431182 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966457431182[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076326901221 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076326901221[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004413317264107 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004413317264107[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958792732737 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958792732737[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661623351668 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661623351668[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478135251570 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478135251570[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334091064075 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334091064075[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907956056090 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907956056090[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795174190373 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795174190373[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003682913372145 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003682913372145[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034822074154 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034822074154[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005836852581053 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005836852581053[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929182504114 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929182504114[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287994259628 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287994259628[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005193282198259 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005193282198259[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412362176997 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412362176997[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895020358002 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895020358002[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907278775303 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907278775303[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118632443943 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118632443943[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088893543501 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088893543501[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356047515963 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356047515963[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869839595408 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869839595408[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897213158173 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897213158173[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215546725058 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215546725058[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770475376261 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770475376261[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620351942974 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620351942974[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200744551934 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200744551934[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099075728637 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099075728637[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742352138374 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742352138374[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020228303656 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020228303656[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775357082088 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775357082088[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006178084102879 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006178084102879[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006635701668599 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006635701668599[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315806348003 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315806348003[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880930 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880930 ms (missed cycles : 2).[0m ×2 + 12.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002753006423671 + 12.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002753006423671[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514023145765 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514023145765[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838601303335 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838601303335[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633004645406 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633004645406[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006066382838200 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006066382838200[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006265892748841 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006265892748841[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007634359155 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007634359155[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005481938458846 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005481938458846[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454232756372 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454232756372[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106482755019 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106482755019[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559155309137 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559155309137[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161285768172 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161285768172[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004970031187608 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004970031187608[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005481849765843 + 12.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005481849765843[0m ×2 + 12.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004478212494775 + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004478212494775[0m ×2 + 12.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130807826682 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130807826682[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005541847238571 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005541847238571[0m ×2 + 12.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481482522754 + 12.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481482522754[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005098591119999 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005098591119999[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492236702111 + 12.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492236702111[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004430212567464 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004430212567464[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005045868230905 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005045868230905[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005441633390814 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005441633390814[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683064042760 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683064042760[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397693755859 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397693755859[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221080210384 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221080210384[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603897605940 + 12.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603897605940[0m ×2 + 12.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433623464313 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433623464313[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884848936661 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884848936661[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006089768778757 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006089768778757[0m ×2 + 12.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006144102334024 + 12.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006144102334024[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006114103892860 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006114103892860[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043411014418 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043411014418[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005959080512398 + 12.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005959080512398[0m ×2 + 12.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876551422158 + 12.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876551422158[0m ×2 + 12.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005803510136140 + 12.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005803510136140[0m ×2 + 12.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742761245391 + 12.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742761245391[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945410090998 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945410090998[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646111922637 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646111922637[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108569759060 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108569759060[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005395425401924 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005395425401924[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006878163905731 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006878163905731[0m ×2 + 12.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006477534040506 + 12.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006477534040506[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006164293336704 + 12.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006164293336704[0m ×2 + 12.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005929339300500 + 12.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005929339300500[0m ×2 + 12.99sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004445 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004445 ms (missed cycles : 2).[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441363 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441363 ms (missed cycles : 2).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168005 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168005 ms (missed cycles : 2).[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551141451264 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551141451264[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873510234766 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873510234766[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040619066775 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040619066775[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106979180040 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106979180040[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001112821512752 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001112821512752[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086101782163 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086101782163[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516882438130 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516882438130[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530873740810 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530873740810[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001759217509552 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001759217509552[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386802409095 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386802409095[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001131810968696 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001131810968696[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000789953754349 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000789953754349[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313711585861 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313711585861[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001403788769833 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001403788769833[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001196058723841 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001196058723841[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001052296600283 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001052296600283[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000958437933973 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000958437933973[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000919643553650 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000919643553650[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001157551767420 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001157551767420[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001619836778526 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001619836778526[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002123936864229 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002123936864229[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898503727142 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898503727142[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018532031306 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018532031306[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196831414724 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196831414724[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004580997720090 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004580997720090[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003929699259789 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003929699259789[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447103562332 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447103562332[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003107837518430 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003107837518430[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002882867966762 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002882867966762[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133615107224 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133615107224[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002944526137109 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002944526137109[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817623949977 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817623949977[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737515813229 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737515813229[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690240148412 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690240148412[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989131484864 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989131484864[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409875137326 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409875137326[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003030400792613 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003030400792613[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798482376225 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798482376225[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078509129659 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078509129659[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901454028618 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901454028618[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182081939436 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182081939436[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002989234245604 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002989234245604[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153981139420 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153981139420[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513022604151 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513022604151[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089867220832 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089867220832[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003525164088120 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003525164088120[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083305460459 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083305460459[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813992908926 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813992908926[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664667027485 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664667027485[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594139165462 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594139165462[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571075620281 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571075620281[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883907734857 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883907734857[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894687403012 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894687403012[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003339898089621 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003339898089621[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983549404537 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983549404537[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001083239683055 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001083239683055[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364042703612 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364042703612[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004532986439789 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004532986439789[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855639187433 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855639187433[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605331021332 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605331021332[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755775547252 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755775547252[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194820757760 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194820757760[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849905818591 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849905818591[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657435370528 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657435370528[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836605504667 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836605504667[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003266251052213 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003266251052213[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002912139425039 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002912139425039[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061361762226 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061361762226[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124130656264 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124130656264[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474135537541 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474135537541[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053325650063 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053325650063[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799806633871 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799806633871[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659921306012 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659921306012[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445599639717 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445599639717[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002525265776019 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002525265776019[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335464527741 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335464527741[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002163227716173 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002163227716173[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890839416179 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890839416179[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753865068200 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753865068200[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144618770828 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144618770828[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549126363717 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549126363717[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887641027667 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887641027667[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642749898464 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642749898464[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862720016424 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862720016424[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556471345616 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556471345616[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723291581131 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723291581131[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003178387646611 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003178387646611[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060763690800 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060763690800[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363685946485 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363685946485[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933741399017 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933741399017[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825659 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825659 ms (missed cycles : 2).[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689449837632 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689449837632[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801354587762 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801354587762[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229046673200 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229046673200[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113054579378 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113054579378[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074508197253 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074508197253[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420203235513 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420203235513[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003407550660 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003407550660[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966853278346 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966853278346[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003321473966255 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003321473966255[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002921383792227 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002921383792227[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902280470165 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902280470165[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273187531663 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273187531663[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002888225603530 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002888225603530[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878334969892 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878334969892[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003257729159535 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003257729159535[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657481754146 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657481754146[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114923090462 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114923090462[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439892572229 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439892572229[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848049355001 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848049355001[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579135797649 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579135797649[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004925814728925 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004925814728925[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003920622326537 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003920622326537[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405771760932 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405771760932[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528886781090 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528886781090[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985832767451 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985832767451[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003853731763977 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003853731763977[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063915444418 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063915444418[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335129711880 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335129711880[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894174566958 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894174566958[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003835532230479 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003835532230479[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213465117829 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213465117829[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054803768050 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054803768050[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973455340738 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973455340738[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004487183451564 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004487183451564[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616914424818 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616914424818[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218059244780 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218059244780[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414813653410 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414813653410[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800069334277 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800069334277[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386291657857 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386291657857[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003044914942191 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003044914942191[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429410370088 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429410370088[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780492005269 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780492005269[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003162400720780 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003162400720780[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115395866946 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115395866946[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614654341297 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614654341297[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844575501543 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844575501543[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920339030260 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920339030260[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823857511598 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823857511598[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235440908057 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235440908057[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372603037903 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372603037903[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974038312154 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974038312154[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223312458239 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223312458239[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916481179633 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916481179633[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193066686611 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193066686611[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898368862907 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898368862907[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192997302541 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192997302541[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902225560991 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902225560991[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203505162182 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203505162182[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003909175044243 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003909175044243[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003211225999019 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003211225999019[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897057599545 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897057599545[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202198116226 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202198116226[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904983899212 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904983899212[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004297641659085 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004297641659085[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347574240868 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347574240868[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582144304690 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582144304690[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252425846773 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252425846773[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603024608544 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603024608544[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758018068158 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758018068158[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440707881367 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440707881367[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002300003903595 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002300003903595[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924397034983 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924397034983[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889468418007 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889468418007[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400122765399 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400122765399[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641663756909 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641663756909[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728108964463 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728108964463[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374468976490 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374468976490[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120135534959 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120135534959[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879615324051 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879615324051[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149290433413 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149290433413[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309914233542 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309914233542[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360567657722 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360567657722[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013166217078 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013166217078[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240240443261 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240240443261[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319533094726 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319533094726[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002872103896761 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002872103896761[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002833013817066 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002833013817066[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063228 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063228 ms (missed cycles : 2).[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486930739602 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486930739602[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578222193038 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578222193038[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183757725787 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183757725787[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821460544102 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821460544102[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274681158748 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274681158748[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492624487492 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492624487492[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004574260748277 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004574260748277[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581925737395 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581925737395[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554154771137 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554154771137[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513507754455 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513507754455[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849417425497 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849417425497[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671870905561 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671870905561[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970369547879 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970369547879[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147314572880 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147314572880[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251829406408 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251829406408[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099863139011 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099863139011[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681601559040 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681601559040[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025943992609 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025943992609[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218586170088 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218586170088[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314723669759 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314723669759[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363159351586 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363159351586[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382594176412 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382594176412[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380935898709 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380935898709[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708795619212 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708795619212[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562323512359 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562323512359[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454371841202 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454371841202[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377048430342 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377048430342[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437252420544 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437252420544[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003329602751447 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003329602751447[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837088547832 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837088547832[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935636904860 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935636904860[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004769241639378 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004769241639378[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003283317223840 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003283317223840[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002793369872795 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002793369872795[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003479112827272 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003479112827272[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874938173398 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874938173398[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005827733207650 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005827733207650[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005853838764941 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005853838764941[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005211618247505 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005211618247505[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793372259673 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793372259673[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514295923040 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514295923040[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004873599695291 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004873599695291[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481108288913 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481108288913[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301675994445 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301675994445[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805558213822 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805558213822[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431781009893 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431781009893[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266034372244 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266034372244[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172618345007 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172618345007[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112202221286 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112202221286[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070815501001 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070815501001[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041626664033 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041626664033[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020343558918 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020343558918[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004005246760 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004005246760[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990571466401 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990571466401[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978690118203 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978690118203[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004988313362189 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004988313362189[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572356421064 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572356421064[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184156912690 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184156912690[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369452045786 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369452045786[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005828936334961 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005828936334961[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005061926616702 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005061926616702[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562769112485 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562769112485[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236478047248 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236478047248[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029580343752 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029580343752[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904248632109 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904248632109[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832337927203 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832337927203[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378504928831 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378504928831[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659175138115 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659175138115[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004057257370404 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004057257370404[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294949798766 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294949798766[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775676670653 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775676670653[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391515390947 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391515390947[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342376580755 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342376580755[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694876567305 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694876567305[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004669589758 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004669589758[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003598755946846 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003598755946846[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246191616001 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246191616001[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005493763075377 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005493763075377[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006276827616887 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006276827616887[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005208073318982 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005208073318982[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506972224273 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506972224273[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605155106376 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605155106376[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739179894105 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739179894105[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698963436466 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698963436466[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495490539704 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495490539704[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006153515191899 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006153515191899[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287148076576 + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185434 ms (missed cycles : 2). + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287148076576[0m ×2 + 18.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185434 ms (missed cycles : 2).[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105083295049 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105083295049[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421208248062 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421208248062[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005214084459433 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005214084459433[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005461578364021 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005461578364021[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595075794097 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595075794097[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715434259811 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715434259811[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004691081698890 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004691081698890[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005637499479344 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005637499479344[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004674447377874 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004674447377874[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445543299853 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445543299853[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498624371883 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498624371883[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286686116643 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286686116643[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411295100764 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411295100764[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437529960290 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437529960290[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213437525484 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213437525484[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286129305501 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286129305501[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005096929365853 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005096929365853[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326323112281 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326323112281[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004250283473713 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004250283473713[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254455105032 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254455105032[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995795847366 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995795847366[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006095729748666 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006095729748666[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878081597533 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878081597533[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005348396162970 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005348396162970[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310762008807 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310762008807[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953896684912 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953896684912[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251623602504 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251623602504[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243776281165 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243776281165[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892642516137 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892642516137[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989586811274 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989586811274[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707827239390 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707827239390[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886556000063 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886556000063[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594701792118 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594701792118[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071598325225 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071598325225[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777166236608 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777166236608[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598871637192 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598871637192[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073326117309 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073326117309[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005237952619183 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005237952619183[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007182472692 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007182472692[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028961952426 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028961952426[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951450159434 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951450159434[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649487629446 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649487629446[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349804215730 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349804215730[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816843685990 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816843685990[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005051636132346 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005051636132346[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158685864386 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158685864386[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181827173394 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181827173394[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005834576214622 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005834576214622[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558834888547 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558834888547[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005344474115611 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005344474115611[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005178498308558 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005178498308558[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057977153418 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057977153418[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004968945928701 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004968945928701[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900743892853 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900743892853[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084529335832 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084529335832[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960619475583 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960619475583[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880589511487 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880589511487[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820246590111 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820246590111[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770855415487 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770855415487[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728193075201 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728193075201[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005058864905477 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005058864905477[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887656566247 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887656566247[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004768032491270 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004768032491270[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678983111353 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678983111353[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486484621469 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486484621469[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002729387370984 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002729387370984[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003573609430627 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003573609430627[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074671155399 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074671155399[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156769159642 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156769159642[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403159916821 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403159916821[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002198706915094 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002198706915094[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265917103986 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265917103986[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343858649366 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343858649366[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585565738958 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585565738958[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347758065952 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347758065952[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007387087390033 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007387087390033[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006258739355407 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006258739355407[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450209734249 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450209734249[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006518696885154 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006518696885154[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565213904372 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565213904372[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004924891029884 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004924891029884[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004516497171155 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004516497171155[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004272393223189 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004272393223189[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005803201499037 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005803201499037[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099488375476 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099488375476[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998963004068 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998963004068[0m ×2 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717610 ms (missed cycles : 2). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717610 ms (missed cycles : 2).[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004631251646752 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004631251646752[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006194143393557 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006194143393557[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007125216220671 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007125216220671[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005986541608271 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005986541608271[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189194700747 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189194700747[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006288336160219 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006288336160219[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592979211466 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592979211466[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005522768770059 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005522768770059[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809241107613 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809241107613[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005980341599627 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005980341599627[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100480593334 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100480593334[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143863555142 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143863555142[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006306869605078 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006306869605078[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284540895456 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284540895456[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004628297629911 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004628297629911[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493861422621 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493861422621[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005859707241229 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005859707241229[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006691634725960 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006691634725960[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007705124388802 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007705124388802[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006195827702996 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006195827702996[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006744497451000 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006744497451000[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470220322689 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470220322689[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006208508735617 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006208508735617[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006662872348670 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006662872348670[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354834446602 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354834446602[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006069371769533 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006069371769533[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613753972285 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613753972285[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601933773296 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601933773296[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005767642699151 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005767642699151[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006472009344323 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006472009344323[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959618467956 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959618467956[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005890044748097 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005890044748097[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006446079023079 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006446079023079[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006743299290343 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006743299290343[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006870100900632 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006870100900632[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006891128181697 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006891128181697[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006851598572483 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006851598572483[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006781652111216 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006781652111216[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006700257600683 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006700257600683[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360878141416 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360878141416[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005098966181101 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005098966181101[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008524124919493 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008524124919493[0m ×2 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.797332 ms (missed cycles : 5). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.797332 ms (missed cycles : 5).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902588 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902588 ms (missed cycles : 2).[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044560061803126 + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044258 ms (missed cycles : 2). + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044560061803126[0m ×2 + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044258 ms (missed cycles : 2).[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036380331133275 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036380331133275[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018359033891846 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018359033891846[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016492742911642 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016492742911642[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019826953368192 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019826953368192[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020240176765332 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020240176765332[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020106462046810 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020106462046810[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017057412073546 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017057412073546[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014205792602523 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014205792602523[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016802969291844 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016802969291844[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016520922871615 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016520922871615[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014761804383225 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014761804383225[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012418782882104 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012418782882104[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015424540217335 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015424540217335[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011455176936888 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011455176936888[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011755148848821 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011755148848821[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014943463281637 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014943463281637[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002293185993208 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002293185993208[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366621600400 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366621600400[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280181760244 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280181760244[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810644366505 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810644366505[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764696653561 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764696653561[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041229550580 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041229550580[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169480339327 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169480339327[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029818003015 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029818003015[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368069958572 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368069958572[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002050778489997 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002050778489997[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001960396245515 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001960396245515[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002001882796738 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002001882796738[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002106981010891 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002106981010891[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002230822720426 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002230822720426[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937812150371 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937812150371[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847340364603 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847340364603[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776833706215 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776833706215[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723253475970 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723253475970[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002683800394369 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002683800394369[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519204786563 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519204786563[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138126810285 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138126810285[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001057848659857 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001057848659857[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964657741191 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964657741191[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869144959733 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869144959733[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669707955350 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669707955350[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593582062703 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593582062703[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786095791064 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786095791064[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233140966894 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233140966894[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002878736815333 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002878736815333[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670161398968 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670161398968[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561849726921 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561849726921[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002517798177257 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002517798177257[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002511386559348 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002511386559348[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332889396524 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332889396524[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999076076237 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999076076237[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002787091258976 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002787091258976[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662227135696 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662227135696[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596436376790 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596436376790[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002568230995732 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002568230995732[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880372544852 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880372544852[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315310689677 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315310689677[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550705071495 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550705071495[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086813775265 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086813775265[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799631201257 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799631201257[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636925271948 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636925271948[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002556769708976 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002556769708976[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001066330962569 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001066330962569[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001622613100710 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001622613100710[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484615711758 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484615711758[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179644726456 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179644726456[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004975778743224 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004975778743224[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001234759909296 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001234759909296[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001481649320638 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001481649320638[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003461745390007 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003461745390007[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512480670804 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512480670804[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003636066382698 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003636066382698[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540558470425 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540558470425[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003776559940655 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003776559940655[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474372916765 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474372916765[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623824729045 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623824729045[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003073934036409 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003073934036409[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745156782069 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745156782069[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528444791274 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528444791274[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003027886166857 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003027886166857[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002731657279461 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002731657279461[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002574494312430 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002574494312430[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782634460591 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782634460591[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216783638101 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216783638101[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866222429857 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866222429857[0m ×2 + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630915 ms (missed cycles : 2). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630915 ms (missed cycles : 2).[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021570307570 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021570307570[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685229534305 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685229534305[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993810370472 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993810370472[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513798311763 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513798311763[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358593628645 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358593628645[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004767425825185 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004767425825185[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003844169954119 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003844169954119[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232195882314 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232195882314[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852457088797 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852457088797[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872711526217 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872711526217[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003242554331094 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003242554331094[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002856317407563 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002856317407563[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623414556107 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623414556107[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088370515653 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088370515653[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768622530610 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768622530610[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968695801235 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968695801235[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115510277547 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115510277547[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123847561895 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123847561895[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473578072773 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473578072773[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224351959801 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224351959801[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489100678502 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489100678502[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016533949395 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016533949395[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950393462321 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950393462321[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282142800088 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282142800088[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871921808428 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871921808428[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625686555430 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625686555430[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082450055852 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082450055852[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002562856943435 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002562856943435[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833033473947 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833033473947[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519761135734 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519761135734[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691226749528 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691226749528[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326880678583 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326880678583[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377255362055 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377255362055[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126143596967 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126143596967[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382486509354 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382486509354[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106425670116 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106425670116[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346076655392 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346076655392[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002882877750864 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002882877750864[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821579961139 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821579961139[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185383996913 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185383996913[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990686184865 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990686184865[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003279520176985 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003279520176985[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003036235783538 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003036235783538[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947955333220 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947955333220[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303888606560 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303888606560[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071335416575 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071335416575[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003296110425650 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003296110425650[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061676179434 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061676179434[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445186216406 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445186216406[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003579467337954 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003579467337954[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187168726102 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187168726102[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381869160448 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381869160448[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046492302273 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046492302273[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284267328167 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284267328167[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983680162227 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983680162227[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003244652167167 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003244652167167[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956281021503 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956281021503[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225298541913 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225298541913[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949662721025 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949662721025[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364711726256 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364711726256[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678512276801 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678512276801[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004374386310026 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004374386310026[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715256207184 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715256207184[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004851809634118 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004851809634118[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783802162880 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783802162880[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213169847177 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213169847177[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003354042615790 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003354042615790[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954763589142 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954763589142[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201026210754 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201026210754[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881933676301 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881933676301[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154852201928 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154852201928[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917173188292 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917173188292[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353539900574 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353539900574[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584010656655 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584010656655[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594191106259 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594191106259[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095815912842 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095815912842[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280756130257 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280756130257[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464567123747 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464567123747[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002434673205013 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002434673205013[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811707638609 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811707638609[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938818240677 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938818240677[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497255420853 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497255420853[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004742492591410 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004742492591410[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816330918654 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816330918654[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412426424202 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412426424202[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440261389932 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440261389932[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529427368635 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529427368635[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146545905546 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146545905546[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470620765134 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470620765134[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616308790932 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616308790932[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659333513863 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659333513863[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648605077646 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648605077646[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614172441616 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614172441616[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531441666927 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531441666927[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938610468535 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938610468535[0m ×2 + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.434086 ms (missed cycles : 6). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.434086 ms (missed cycles : 6).[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181851262103 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181851262103[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003117081529401 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003117081529401[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754532002512 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754532002512[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128986176150 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128986176150[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335814757774 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335814757774[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437021959710 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437021959710[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474690983262 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474690983262[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476943878946 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476943878946[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448742390949 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448742390949[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893065773770 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893065773770[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004530400420127 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004530400420127[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498392998130 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498392998130[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933516199775 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933516199775[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177409340337 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177409340337[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256151699345 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256151699345[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417814646295 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417814646295[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035892825506 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035892825506[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346539811765 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346539811765[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488814855212 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488814855212[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164073490016 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164073490016[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894639458831 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894639458831[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004689230781982 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004689230781982[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539882182809 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539882182809[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435978891764 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435978891764[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366571406411 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366571406411[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321861940679 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321861940679[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293765971687 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293765971687[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276104267600 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276104267600[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003044584829792 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003044584829792[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458374331000 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458374331000[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004951193522632 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004951193522632[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659054272110 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659054272110[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004471867693429 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004471867693429[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349078544799 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349078544799[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004269634018052 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004269634018052[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219446584158 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219446584158[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004538023589259 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004538023589259[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378238348425 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378238348425[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002140883261254 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002140883261254[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630752793958 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630752793958[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765265447875 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765265447875[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003851207195927 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003851207195927[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172935343411 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172935343411[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005998868854046 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005998868854046[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318718275026 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318718275026[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841049809098 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841049809098[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512454787211 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512454787211[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004295734460121 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004295734460121[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159934162981 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159934162981[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079638377357 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079638377357[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035173973247 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035173973247[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074193555360 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074193555360[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634367042958 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634367042958[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347424962878 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347424962878[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166908050609 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166908050609[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058734630520 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058734630520[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997483005036 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997483005036[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964850913801 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964850913801[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004983302345014 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004983302345014[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556612961752 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556612961752[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278429155908 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278429155908[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102434550275 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102434550275[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995779355446 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995779355446[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934219607379 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934219607379[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022453823846 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022453823846[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090037624659 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090037624659[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708311957125 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708311957125[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005600898614278 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005600898614278[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006555122322301 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006555122322301[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353952218968 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353952218968[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001891086951142 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001891086951142[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847589590308 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847589590308[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985420451511 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985420451511[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006105534159664 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006105534159664[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006776861697089 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006776861697089[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005560414559839 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005560414559839[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006071252548250 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006071252548250[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064995980101 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064995980101[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415561653369 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415561653369[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019517464728 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019517464728[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349282165055 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349282165055[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547095626886 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547095626886[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005047478358963 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005047478358963[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401522769263 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401522769263[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012926954354 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012926954354[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869272094150 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869272094150[0m ×2 + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555447 ms (missed cycles : 2). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555447 ms (missed cycles : 2).[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482085703549 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482085703549[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031584018936 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031584018936[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687214181141 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687214181141[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005155002748023 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005155002748023[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005937163147640 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005937163147640[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984584722051 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984584722051[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005801886162178 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005801886162178[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781867648357 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781867648357[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603368717351 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603368717351[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612829067999 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612829067999[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004032918346414 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004032918346414[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150799911244 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150799911244[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005392010539199 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005392010539199[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004471888303475 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004471888303475[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241848681163 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241848681163[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003981661094384 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003981661094384[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040610264075 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040610264075[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005859847807549 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005859847807549[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858574307702 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858574307702[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588712164189 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588712164189[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569075131102 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569075131102[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328034889773 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328034889773[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371993332250 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371993332250[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177971032950 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177971032950[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004260182814311 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004260182814311[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536813869869 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536813869869[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401584314928 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401584314928[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324448722599 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324448722599[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005641866549680 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005641866549680[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006413525954568 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006413525954568[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800919899330 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800919899330[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585507064034 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585507064034[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321691985896 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321691985896[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595114150287 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595114150287[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005782457869280 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005782457869280[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586033514018 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586033514018[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126593543591 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126593543591[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336704093917 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336704093917[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147581814911 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147581814911[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660860971286 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660860971286[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142974163793 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142974163793[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031545230277 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031545230277[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004592364479167 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004592364479167[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005905716743316 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005905716743316[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005865875142700 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005865875142700[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702613964978 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702613964978[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439202071721 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439202071721[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863157399140 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863157399140[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989146184616 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989146184616[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126065028637 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126065028637[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005157427095427 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005157427095427[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176225420414 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176225420414[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158999949660 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158999949660[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134854130758 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134854130758[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100151588206 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100151588206[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063900667792 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063900667792[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158782030578 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158782030578[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940362155159 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940362155159[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878954174203 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878954174203[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420216870481 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420216870481[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652449610139 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652449610139[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005904861034017 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005904861034017[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572361104161 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572361104161[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198457659224 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198457659224[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995929151817 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995929151817[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004821795821741 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004821795821741[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005540539562303 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005540539562303[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625141161800 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625141161800[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004875778772829 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004875778772829[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582597045979 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582597045979[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606893033090 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606893033090[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492288075546 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492288075546[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469544780342 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469544780342[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002696540916087 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002696540916087[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002328333945764 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002328333945764[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470318812200 + 26.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470318812200[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390867072262 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390867072262[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007008565481932 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007008565481932[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006955157022930 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006955157022930[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006119787436437 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006119787436437[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747271209909 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747271209909[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797041023908 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797041023908[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004677770387061 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004677770387061[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006259721410807 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006259721410807[0m ×2 + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950137 ms (missed cycles : 2). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950137 ms (missed cycles : 2).[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004921900151909 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004921900151909[0m ×2 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593102788296 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593102788296[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005654081646204 + 26.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005654081646204[0m ×2 + 26.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825824405054 + 26.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825824405054[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375497730328 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375497730328[0m ×2 + 26.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537003408645 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537003408645[0m ×2 + 26.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004748574443410 + 26.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004748574443410[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313072320104 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313072320104[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797822792042 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797822792042[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005551392452982 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005551392452982[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655024300580 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655024300580[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005551832517440 + 26.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005551832517440[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004517561052184 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004517561052184[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005456621684426 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005456621684426[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405674492354 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405674492354[0m ×2 + 26.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315096261048 + 26.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315096261048[0m ×2 + 26.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476422600451 + 26.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476422600451[0m ×2 + 26.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597375473571 + 26.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597375473571[0m ×2 + 26.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005285664275825 + 26.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005285664275825[0m ×2 + 26.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003718527961680 + 26.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003718527961680[0m ×2 + 26.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004080304798335 + 26.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004080304798335[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205495108744 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205495108744[0m ×2 + 26.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005129055806117 + 26.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005129055806117[0m ×2 + 26.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005663844292708 + 26.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005663844292708[0m ×2 + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418527891177 + 26.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418527891177[0m ×2 + 27.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005614608212092 + 27.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005614608212092[0m ×2 + 27.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005410308201579 + 27.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005410308201579[0m ×2 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603354393031 + 27.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603354393031[0m ×2 + 27.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595734850798 + 27.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595734850798[0m ×2 + 27.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394071631672 + 27.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394071631672[0m ×2 + 27.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005319362374577 + 27.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005319362374577[0m ×2 + 27.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194858278432 + 27.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194858278432[0m ×2 + 27.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368570140876 + 27.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368570140876[0m ×2 + 27.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677111307863 + 27.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677111307863[0m ×2 + 27.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982730362863 + 27.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982730362863[0m ×2 + 27.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008813043273 + 27.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008813043273[0m ×2 + 27.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005521011282871 + 27.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005521011282871[0m ×2 + 27.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005259153060300 + 27.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005259153060300[0m ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891332 ms (missed cycles : 2). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891332 ms (missed cycles : 2).[0m ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814358 ms (missed cycles : 2). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814358 ms (missed cycles : 2).[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042388536779303 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042388536779303[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035848597008297 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035848597008297[0m ×2 + 29.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025445149535555 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025445149535555[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018053948015513 + 29.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018053948015513[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017172338115234 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017172338115234[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016116919152307 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016116919152307[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015035601920660 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015035601920660[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015223355386899 + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.051110 ms (missed cycles : 5). + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015223355386899[0m ×2 + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.051110 ms (missed cycles : 5).[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022752923816479 + 29.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022752923816479[0m ×2 + 29.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023306860167898 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023306860167898[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017574199863576 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017574199863576[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018194461431815 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018194461431815[0m ×2 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017824447115936 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017824447115936[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016911349409409 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016911349409409[0m ×2 + 29.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015755600543985 + 29.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015755600543985[0m ×2 + 29.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014545327464786 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014545327464786[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016746142182196 + 29.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016746142182196[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014614388553214 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014614388553214[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012904338205822 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012904338205822[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017090271270815 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017090271270815[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018668839615549 + 29.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018668839615549[0m ×2 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014011239039354 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014011239039354[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015199890502907 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015199890502907[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017220100189584 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017220100189584[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021986077633170 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021986077633170[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017393477736147 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017393477736147[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013877492091323 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013877492091323[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016090845684966 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016090845684966[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016317290777837 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016317290777837[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017665176980852 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017665176980852[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016101459476940 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016101459476940[0m ×2 + 29.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014209359215715 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014209359215715[0m ×2 + 29.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012302280022441 + 29.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012302280022441[0m ×2 + 30.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015500443746895 + 30.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015500443746895[0m ×2 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015762776813858 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015762776813858[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015062814629882 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015062814629882[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016780310738327 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016780310738327[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015200899507129 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015200899507129[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012256565348067 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012256565348067[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012626376462055 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012626376462055[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981701802947 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981701802947[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001295767299697 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001295767299697[0m ×2 + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281358263719 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281358263719[0m ×2 + 30.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001191092998725 + 30.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001191092998725[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001169250994749 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001169250994749[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002531070167020 + 30.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002531070167020[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157481315702 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157481315702[0m ×2 + 30.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995223518403 + 30.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995223518403[0m ×2 + 30.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972766234626 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972766234626[0m ×2 + 30.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002574451122599 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002574451122599[0m ×2 + 30.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544089851265 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544089851265[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003002398480308 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003002398480308[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859777023045 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859777023045[0m ×2 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002751687775063 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002751687775063[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673450285994 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673450285994[0m ×2 + 30.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003508327537630 + 30.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003508327537630[0m ×2 + 30.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101068242818 + 30.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101068242818[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827715102077 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827715102077[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656054279336 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656054279336[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002557442185222 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002557442185222[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002508224498189 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002508224498189[0m ×2 + 30.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490125269154 + 30.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490125269154[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002942099567210 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002942099567210[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749782467953 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749782467953[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629446920523 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629446920523[0m ×2 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560257682242 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560257682242[0m ×2 + 30.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001167318910074 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001167318910074[0m ×2 + 30.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001468496480506 + 30.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001468496480506[0m ×2 + 30.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188923603168 + 30.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188923603168[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943662457103 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943662457103[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822008679284 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822008679284[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940321734087 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940321734087[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319335172694 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319335172694[0m ×2 + 30.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909067385537 + 30.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909067385537[0m ×2 + 30.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002658535929913 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002658535929913[0m ×2 + 30.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521265758249 + 30.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521265758249[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459049850313 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459049850313[0m ×2 + 30.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919674494504 + 30.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919674494504[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786542047162 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786542047162[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002694163000488 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002694163000488[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632427109508 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632427109508[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898233406965 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898233406965[0m ×2 + 30.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313770854993 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313770854993[0m ×2 + 30.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002928356069082 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002928356069082[0m ×2 + 30.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002691159881816 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002691159881816[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000984449320762 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000984449320762[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380343492408 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380343492408[0m ×2 + 30.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002261943792507 + 30.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002261943792507[0m ×2 + 30.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002717414241849 + 30.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002717414241849[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205264780732 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205264780732[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273239109673 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273239109673[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004961136920620 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004961136920620[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868283431719 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868283431719[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076043556317 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076043556317[0m ×2 + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248510 ms (missed cycles : 2). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248510 ms (missed cycles : 2).[0m ×2 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144379563656 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144379563656[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003491394720477 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003491394720477[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049625033204 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049625033204[0m ×2 + 30.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768971754536 + 30.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768971754536[0m ×2 + 30.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869437094787 + 30.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869437094787[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003247528105192 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003247528105192[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854783870677 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854783870677[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625742324601 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625742324601[0m ×2 + 30.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507239637676 + 30.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507239637676[0m ×2 + 30.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738468735248 + 30.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738468735248[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003178805546956 + 30.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003178805546956[0m ×2 + 30.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071045509364 + 30.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071045509364[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002816401100652 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002816401100652[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924579078519 + 30.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924579078519[0m ×2 + 30.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003299429160420 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003299429160420[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899705060585 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899705060585[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662219569891 + 30.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662219569891[0m ×2 + 30.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797943897083 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797943897083[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199288293973 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199288293973[0m ×2 + 30.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003425966604374 + 30.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003425966604374[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959123288418 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959123288418[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002681459390683 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002681459390683[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532561171751 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532561171751[0m ×2 + 30.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730285450217 + 31.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730285450217[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652185663997 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652185663997[0m ×2 + 31.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886871414335 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886871414335[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003343637290389 + 31.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003343637290389[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004201157805989 + 31.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004201157805989[0m ×2 + 31.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003453814573806 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003453814573806[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972981353486 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972981353486[0m ×2 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913856898831 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913856898831[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237914603259 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237914603259[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822369287037 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822369287037[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585990305173 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585990305173[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034654610051 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034654610051[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002706306295061 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002706306295061[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003769432473765 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003769432473765[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156965310829 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156965310829[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015978457501 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015978457501[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982121084412 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982121084412[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003320930709455 + 31.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003320930709455[0m ×2 + 31.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002903059164819 + 31.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002903059164819[0m ×2 + 31.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875270593927 + 31.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875270593927[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225640107775 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225640107775[0m ×2 + 31.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825288972084 + 31.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825288972084[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577965742116 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577965742116[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002392952018386 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002392952018386[0m ×2 + 31.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896257510635 + 31.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896257510635[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524384419515 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524384419515[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324321231224 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324321231224[0m ×2 + 31.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736798590438 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736798590438[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127597776155 + 31.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127597776155[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004002478811521 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004002478811521[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260356629568 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260356629568[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974355193921 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974355193921[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231261052763 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231261052763[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959980295582 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959980295582[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219021823508 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219021823508[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002775118593034 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002775118593034[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727158919460 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727158919460[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939011423085 + 31.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939011423085[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230909623940 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230909623940[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984215323498 + 31.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984215323498[0m ×2 + 31.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003245168231629 + 31.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003245168231629[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799837003606 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799837003606[0m ×2 + 31.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003743761965413 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003743761965413[0m ×2 + 31.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132469938612 + 31.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132469938612[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347805291312 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347805291312[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039107987308 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039107987308[0m ×2 + 31.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269704199931 + 31.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269704199931[0m ×2 + 31.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975486542755 + 31.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975486542755[0m ×2 + 31.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993345478508 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993345478508[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002326329207506 + 31.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002326329207506[0m ×2 + 31.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766364319185 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766364319185[0m ×2 + 31.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493025917550 + 31.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493025917550[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825934965609 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825934965609[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940898542881 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940898542881[0m ×2 + 31.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674479593787 + 31.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674479593787[0m ×2 + 31.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869683904396 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869683904396[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002562515717778 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002562515717778[0m ×2 + 31.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745346970708 + 31.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745346970708[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386801219865 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386801219865[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074882111709 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074882111709[0m ×2 + 31.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109430308648 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109430308648[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044658072340 + 31.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044658072340[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852611310278 + 31.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852611310278[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203450203215 + 31.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203450203215[0m ×2 + 31.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303722591959 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303722591959[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887113710645 + 31.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887113710645[0m ×2 + 31.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003126583754894 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003126583754894[0m ×2 + 31.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819656894609 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819656894609[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092839078752 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092839078752[0m ×2 + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360468 ms (missed cycles : 2). + 31.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360468 ms (missed cycles : 2).[0m ×2 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801916482904 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801916482904[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507840956792 + 31.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507840956792[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002520511467371 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002520511467371[0m ×2 + 31.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712303510733 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712303510733[0m ×2 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345307678087 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345307678087[0m ×2 + 31.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651132565086 + 31.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651132565086[0m ×2 + 31.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004767399900919 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004767399900919[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780407189254 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780407189254[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743650197208 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743650197208[0m ×2 + 31.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619462589675 + 31.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619462589675[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004017031151822 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004017031151822[0m ×2 + 31.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377744777427 + 31.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377744777427[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390407206452 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390407206452[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896008397757 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896008397757[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193506327879 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193506327879[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003287815174408 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003287815174408[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847868604141 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847868604141[0m ×2 + 31.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043846190726 + 31.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043846190726[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758351553603 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758351553603[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170395654629 + 31.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170395654629[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392304661022 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392304661022[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496184022018 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496184022018[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004530391228864 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004530391228864[0m ×2 + 32.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477286887662 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477286887662[0m ×2 + 32.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133811282755 + 32.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133811282755[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292361694612 + 32.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292361694612[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316230599903 + 32.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316230599903[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810400979311 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810400979311[0m ×2 + 32.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002423568963400 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002423568963400[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445651138125 + 32.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445651138125[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016602251027 + 32.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016602251027[0m ×2 + 32.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317461551194 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317461551194[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004455225117387 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004455225117387[0m ×2 + 32.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220902755736 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220902755736[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003778806844638 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003778806844638[0m ×2 + 32.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102822334805 + 32.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102822334805[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277610809294 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277610809294[0m ×2 + 32.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359153805686 + 32.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359153805686[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385469101136 + 32.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385469101136[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381711228831 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381711228831[0m ×2 + 32.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363708873843 + 32.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363708873843[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340761076187 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340761076187[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063975886363 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063975886363[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003621254025938 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003621254025938[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954323391413 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954323391413[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017764541698 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017764541698[0m ×2 + 32.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626894294434 + 32.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626894294434[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977683153472 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977683153472[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166426036443 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166426036443[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254549498136 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254549498136[0m ×2 + 32.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283190981285 + 32.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283190981285[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279440967656 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279440967656[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004260325498747 + 32.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004260325498747[0m ×2 + 32.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235849109032 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235849109032[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211349428097 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211349428097[0m ×2 + 32.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803190688765 + 32.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803190688765[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542399628630 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542399628630[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365407276187 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365407276187[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249331527737 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249331527737[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002333891104452 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002333891104452[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553167206560 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553167206560[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003378203955827 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003378203955827[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832817549064 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832817549064[0m ×2 + 32.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005785982493386 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005785982493386[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005155519951917 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005155519951917[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728643622220 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728643622220[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437105653643 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437105653643[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243901887326 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243901887326[0m ×2 + 32.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121471266487 + 32.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121471266487[0m ×2 + 32.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668533893394 + 32.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668533893394[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314605252619 + 32.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314605252619[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004163435015376 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004163435015376[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081262761359 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081262761359[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029427575878 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029427575878[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994454981431 + 32.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994454981431[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969996059972 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969996059972[0m ×2 + 32.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002255524276560 + 32.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002255524276560[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161737264891 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161737264891[0m ×2 + 32.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533961025988 + 32.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533961025988[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003300313037494 + 32.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003300313037494[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302710784545 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302710784545[0m ×2 + 32.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005894548300295 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005894548300295[0m ×2 + 32.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006719549866705 + 32.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006719549866705[0m ×2 + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405541 ms (missed cycles : 3). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405541 ms (missed cycles : 3).[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606880065288 + 32.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606880065288[0m ×2 + 32.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001818305013231 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001818305013231[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859392632292 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859392632292[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016931623973 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016931623973[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006121243678309 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006121243678309[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789313699434 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789313699434[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005563949135823 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005563949135823[0m ×2 + 32.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758669825747 + 32.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758669825747[0m ×2 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257221919278 + 32.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257221919278[0m ×2 + 32.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960361731930 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960361731930[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005375285026271 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005375285026271[0m ×2 + 32.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005519773249253 + 32.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005519773249253[0m ×2 + 32.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739169488673 + 32.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739169488673[0m ×2 + 32.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203521221271 + 32.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203521221271[0m ×2 + 32.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406818975260 + 32.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406818975260[0m ×2 + 32.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428972965467 + 32.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428972965467[0m ×2 + 32.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713528933228 + 32.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713528933228[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244009318790 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244009318790[0m ×2 + 32.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470925618525 + 32.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470925618525[0m ×2 + 32.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609769252045 + 32.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609769252045[0m ×2 + 32.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698545866836 + 32.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698545866836[0m ×2 + 32.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164257865675 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164257865675[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005358213859767 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005358213859767[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004503993114020 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004503993114020[0m ×2 + 33.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361628696560 + 33.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361628696560[0m ×2 + 33.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004156802597498 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004156802597498[0m ×2 + 33.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005269014723208 + 33.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005269014723208[0m ×2 + 33.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005960916181134 + 33.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005960916181134[0m ×2 + 33.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907822479874 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907822479874[0m ×2 + 33.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004250619633444 + 33.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004250619633444[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005296096984563 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005296096984563[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410304251971 + 33.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410304251971[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334667533881 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334667533881[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420169647995 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420169647995[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005314781073364 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005314781073364[0m ×2 + 33.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387687824020 + 33.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387687824020[0m ×2 + 33.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005267606602168 + 33.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005267606602168[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343466099736 + 33.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343466099736[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126311718065 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126311718065[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892197728533 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892197728533[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005580233976243 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005580233976243[0m ×2 + 33.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004553193647205 + 33.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004553193647205[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291248920093 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291248920093[0m ×2 + 33.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709138902735 + 33.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709138902735[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598289729103 + 33.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598289729103[0m ×2 + 33.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270886021493 + 33.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270886021493[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316365422805 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316365422805[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209181000903 + 33.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209181000903[0m ×2 + 33.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005230784940406 + 33.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005230784940406[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220332773253 + 33.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220332773253[0m ×2 + 33.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943377660755 + 33.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943377660755[0m ×2 + 33.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393570116338 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393570116338[0m ×2 + 33.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607778467582 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607778467582[0m ×2 + 33.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005701537545108 + 33.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005701537545108[0m ×2 + 33.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712225927561 + 33.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712225927561[0m ×2 + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499569213052 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499569213052[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064378346423 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064378346423[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005306914353252 + 33.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005306914353252[0m ×2 + 33.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005521113939245 + 33.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005521113939245[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394976039336 + 33.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394976039336[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992503956994 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992503956994[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005195311988997 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005195311988997[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387444195659 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387444195659[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437862035351 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437862035351[0m ×2 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277332588785 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277332588785[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001616632415 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001616632415[0m ×2 + 33.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005253716837003 + 33.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005253716837003[0m ×2 + 33.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264900938914 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264900938914[0m ×2 + 33.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005322845585064 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005322845585064[0m ×2 + 33.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304658407538 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005304658407538[0m ×2 + 33.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005293574565167 + 33.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005293574565167[0m ×2 + 33.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005259687156610 + 33.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005259687156610[0m ×2 + 33.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166538064972 + 33.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166538064972[0m ×2 + 33.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671766893804 + 33.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671766893804[0m ×2 + 33.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149335739574 + 33.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149335739574[0m ×2 + 33.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868946228743 + 33.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868946228743[0m ×2 + 33.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750012957050 + 33.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750012957050[0m ×2 + 33.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614156903809 + 33.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614156903809[0m ×2 + 33.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717284952589 + 33.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717284952589[0m ×2 + 33.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410946664754 + 33.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410946664754[0m ×2 + 33.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757168319867 + 33.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757168319867[0m ×2 + 33.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923433563965 + 33.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923433563965[0m ×2 + 33.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006839411785831 + 33.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006839411785831[0m ×2 + 33.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006890858159960 + 33.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006890858159960[0m ×2 + 33.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006054778080702 + 33.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006054778080702[0m ×2 + 33.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005569403801134 + 33.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005569403801134[0m ×2 + 33.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005167936352675 + 33.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005167936352675[0m ×2 + 33.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004930501566687 + 33.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004930501566687[0m ×2 + 33.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759850913335 + 33.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759850913335[0m ×2 + 33.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659759885539 + 33.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659759885539[0m ×2 + 33.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005732622793601 + 33.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005732622793601[0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154537 ms (missed cycles : 5). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154537 ms (missed cycles : 5).[0m ×2 + 33.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295582841727 + 33.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295582841727[0m ×2 + 33.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143822018886 + 33.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143822018886[0m ×2 + 33.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573864122449 + 33.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573864122449[0m ×2 + 33.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149984420281 + 33.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149984420281[0m ×2 + 33.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005278920278548 + 33.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005278920278548[0m ×2 + 33.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005329463931188 + 33.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005329463931188[0m ×2 + 33.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007066421827596 + 33.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007066421827596[0m ×2 + 33.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735055583413 + 33.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735055583413[0m ×2 + 33.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007181268850121 + 33.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007181268850121[0m ×2 + 33.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539356874555 + 33.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539356874555[0m ×2 + 33.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005172775004110 + 33.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005172775004110[0m ×2 + 33.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005660048213116 + 33.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005660048213116[0m ×2 + 33.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929714911790 + 33.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929714911790[0m ×2 + 33.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541955701273 + 33.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541955701273[0m ×2 + 33.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005877848290099 + 33.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005877848290099[0m ×2 + 33.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946613739790 + 33.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946613739790[0m ×2 + 33.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583386037054 + 33.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583386037054[0m ×2 + 34.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004558184628138 + 34.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004558184628138[0m ×2 + 34.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668073474645 + 34.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668073474645[0m ×2 + 34.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518012045766 + 34.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518012045766[0m ×2 + 34.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008246405635275 + 34.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008246405635275[0m ×2 + 34.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065236225774 + 34.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065236225774[0m ×2 + 34.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386147723855 + 34.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386147723855[0m ×2 + 34.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005287464665448 + 34.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005287464665448[0m ×2 + 34.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350283500929 + 34.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350283500929[0m ×2 + 34.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005855989626995 + 34.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005855989626995[0m ×2 + 34.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006173648807679 + 34.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006173648807679[0m ×2 + 34.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799462250231 + 34.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799462250231[0m ×2 + 34.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633350139978 + 34.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633350139978[0m ×2 + 34.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786385856381 + 34.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786385856381[0m ×2 + 34.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018168488110 + 34.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018168488110[0m ×2 + 34.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588614142279 + 34.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588614142279[0m ×2 + 34.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006172518519487 + 34.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006172518519487[0m ×2 + 34.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799421204616 + 34.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799421204616[0m ×2 + 34.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007404820164913 + 34.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007404820164913[0m ×2 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507674 ms (missed cycles : 2). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507674 ms (missed cycles : 2).[0m ×2 + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315126 ms (missed cycles : 3). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315126 ms (missed cycles : 3).[0m ×2 + 35.98sINFOros2_control_nodeMuJoCo sim: 3.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 36.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551141451611 + 36.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551141451611[0m ×2 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873510234703 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873510234703[0m ×2 + 36.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040619066402 + 36.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040619066402[0m ×2 + 36.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106979180625 + 36.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106979180625[0m ×2 + 36.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001112821513406 + 36.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001112821513406[0m ×2 + 36.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086101781887 + 36.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086101781887[0m ×2 + 36.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584272 ms (missed cycles : 3). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584272 ms (missed cycles : 3).[0m ×2 + 36.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464690646996 + 36.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464690646996[0m ×2 + 36.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000497896102804 + 36.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000497896102804[0m ×2 + 36.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000730653875321 + 36.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000730653875321[0m ×2 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867250041872 + 36.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867250041872[0m ×2 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415955596082 + 36.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415955596082[0m ×2 + 36.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001727274756747 + 36.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001727274756747[0m ×2 + 36.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400651846384 + 36.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400651846384[0m ×2 + 36.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001171028922060 + 36.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001171028922060[0m ×2 + 36.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001018002261374 + 36.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001018002261374[0m ×2 + 36.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000922985065806 + 36.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000922985065806[0m ×2 + 36.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000869447729553 + 36.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000869447729553[0m ×2 + 36.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000985977210331 + 36.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000985977210331[0m ×2 + 36.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000951561674212 + 36.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000951561674212[0m ×2 + 36.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000929384271915 + 36.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000929384271915[0m ×2 + 36.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000916768974200 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000916768974200[0m ×2 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911133177631 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911133177631[0m ×2 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910726699649 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910726699649[0m ×2 + 36.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001228276652462 + 36.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001228276652462[0m ×2 + 37.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101962380225 + 37.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101962380225[0m ×2 + 37.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001018753252885 + 37.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001018753252885[0m ×2 + 37.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000967980165109 + 37.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000967980165109[0m ×2 + 37.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940529447204 + 37.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940529447204[0m ×2 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000929035664768 + 37.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000929035664768[0m ×2 + 37.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084521592774 + 37.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084521592774[0m ×2 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001181723603980 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001181723603980[0m ×2 + 37.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001126525184023 + 37.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001126525184023[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595791344155 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595791344155[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358870532869 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358870532869[0m ×2 + 37.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001197198428549 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001197198428549[0m ×2 + 37.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093700930540 + 37.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093700930540[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001032666722081 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001032666722081[0m ×2 + 37.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363924427151 + 37.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363924427151[0m ×2 + 37.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001199341377937 + 37.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001199341377937[0m ×2 + 37.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001096337709027 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001096337709027[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037582024790 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037582024790[0m ×2 + 37.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001009103651128 + 37.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001009103651128[0m ×2 + 37.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000254178773 + 37.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000254178773[0m ×2 + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001003297742495 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001003297742495[0m ×2 + 37.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000989683052715 + 37.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000989683052715[0m ×2 + 37.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604950782439 + 37.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604950782439[0m ×2 + 37.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001704429794247 + 37.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001704429794247[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498936790420 + 37.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498936790420[0m ×2 + 37.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001347608523909 + 37.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001347608523909[0m ×2 + 37.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242636219878 + 37.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242636219878[0m ×2 + 37.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001711142667177 ×2 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001711142667177[0m ×4 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001128863089008 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001128863089008[0m ×2 + 37.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001305802922729 + 37.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001305802922729[0m ×2 + 37.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392848958207 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392848958207[0m ×2 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001873322283643 + 37.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001873322283643[0m ×2 + 37.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001603775791785 + 37.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001603775791785[0m ×2 + 37.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415861999675 + 37.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415861999675[0m ×2 + 37.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001291677098845 + 37.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001291677098845[0m ×2 + 37.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768109168564 + 37.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768109168564[0m ×2 + 37.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001506996028862 + 37.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001506996028862[0m ×2 + 37.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337452676203 + 37.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337452676203[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001234755617054 + 37.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001234755617054[0m ×2 + 37.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001590833702306 + 37.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001590833702306[0m ×2 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394462132903 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394462132903[0m ×2 + 37.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001273101608714 + 37.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001273101608714[0m ×2 + 37.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001204705669043 + 37.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001204705669043[0m ×2 + 37.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001172201105960 + 37.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001172201105960[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726122311399 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726122311399[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001507596859884 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001507596859884[0m ×2 + 37.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365863963778 + 37.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365863963778[0m ×2 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001280094065427 + 37.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001280094065427[0m ×2 + 37.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643588482008 + 37.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643588482008[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454190587190 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454190587190[0m ×2 + 37.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335569685824 + 37.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335569685824[0m ×2 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001267438464184 + 37.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001267438464184[0m ×2 + 37.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807004911967 + 37.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807004911967[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000450962893159 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000450962893159[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443265429093 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443265429093[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002057950745321 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002057950745321[0m ×2 + 37.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410862894770 + 37.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410862894770[0m ×2 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001222560147346 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001222560147346[0m ×2 + 37.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511912894094 + 37.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511912894094[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624852487668 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624852487668[0m ×2 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002143277460606 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002143277460606[0m ×2 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002445430661011 + 37.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002445430661011[0m ×2 + 37.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002010362778422 + 37.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002010362778422[0m ×2 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001713962383944 + 37.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001713962383944[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093728287090 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093728287090[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755297632846 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755297632846[0m ×2 + 37.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001538962318640 + 37.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001538962318640[0m ×2 + 37.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002008324971085 + 37.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002008324971085[0m ×2 + 37.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001707812847747 + 37.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001707812847747[0m ×2 + 37.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001518655750989 + 37.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001518655750989[0m ×2 + 37.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002010474154994 + 37.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002010474154994[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001720648554880 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001720648554880[0m ×2 + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862738 ms (missed cycles : 2). + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862738 ms (missed cycles : 2).[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929376002578 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929376002578[0m ×2 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001329550976435 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001329550976435[0m ×2 + 37.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001323780198821 + 37.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001323780198821[0m ×2 + 37.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002026572403611 + 37.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002026572403611[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451180400930 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451180400930[0m ×2 + 37.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074166226001 + 37.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074166226001[0m ×2 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002424115926344 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002424115926344[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002011745020060 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002011745020060[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738324567762 + 37.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738324567762[0m ×2 + 37.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002184994409180 + 37.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002184994409180[0m ×2 + 37.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001849102725359 + 37.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001849102725359[0m ×2 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002063128329756 + 37.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002063128329756[0m ×2 + 37.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766986249484 + 37.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766986249484[0m ×2 + 37.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001583144446133 + 37.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001583144446133[0m ×2 + 37.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101049753559 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101049753559[0m ×2 + 37.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001809881586081 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001809881586081[0m ×2 + 38.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626092632880 ×2 + 38.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626092632880[0m ×4 + 38.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632968038439 + 38.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632968038439[0m ×2 + 38.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694812974362 + 38.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694812974362[0m ×2 + 38.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257628133150 + 38.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257628133150[0m ×2 + 38.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002600481742625 + 38.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002600481742625[0m ×2 + 38.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161323357894 + 38.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161323357894[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002499641290054 ×2 + 38.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002499641290054[0m ×4 + 38.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069242461497 + 38.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069242461497[0m ×2 + 38.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790350990030 + 38.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790350990030[0m ×2 + 38.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257680217261 + 38.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257680217261[0m ×2 + 38.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919833269870 + 38.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919833269870[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346257610119 + 38.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346257610119[0m ×2 + 38.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917286833155 + 38.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917286833155[0m ×2 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002375833295117 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002375833295117[0m ×2 + 38.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019065024339 + 38.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019065024339[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002432888681584 + 38.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002432888681584[0m ×2 + 38.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046448442925 + 38.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046448442925[0m ×2 + 38.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002445518285685 + 38.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002445518285685[0m ×2 + 38.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973103770051 + 38.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973103770051[0m ×2 + 38.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002427351116135 + 38.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002427351116135[0m ×2 + 38.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060831624013 + 38.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060831624013[0m ×2 + 38.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476196932654 + 38.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476196932654[0m ×2 + 38.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002083902846461 + 38.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002083902846461[0m ×2 + 38.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486800791096 + 38.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486800791096[0m ×2 + 38.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086555842177 + 38.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086555842177[0m ×2 + 38.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002488381115034 + 38.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002488381115034[0m ×2 + 38.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009654653594 + 38.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009654653594[0m ×2 + 38.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002472205278022 + 38.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002472205278022[0m ×2 + 38.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102608374340 + 38.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102608374340[0m ×2 + 38.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895870332544 + 38.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895870332544[0m ×2 + 38.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002431487512412 + 38.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002431487512412[0m ×2 + 38.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002766512552130 + 38.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002766512552130[0m ×2 + 38.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002297368507817 + 38.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002297368507817[0m ×2 + 38.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002653972874431 + 38.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002653972874431[0m ×2 + 38.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002208103569934 + 38.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002208103569934[0m ×2 + 38.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589645164503 ×2 + 38.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589645164503[0m ×4 + 38.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002163433672854 + 38.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002163433672854[0m ×2 + 38.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563023885165 + 38.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563023885165[0m ×2 + 38.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148680283643 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148680283643[0m ×2 + 38.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002558877920825 + 38.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002558877920825[0m ×2 + 38.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823073194854 + 38.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823073194854[0m ×2 + 38.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310269161730 + 38.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310269161730[0m ×2 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656772262030 + 38.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656772262030[0m ×2 + 38.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643926359861 + 38.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643926359861[0m ×2 + 38.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833941784510 + 38.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833941784510[0m ×2 + 38.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476367287763 + 38.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476367287763[0m ×2 + 38.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871048664480 + 38.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871048664480[0m ×2 + 38.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096128000168 + 38.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096128000168[0m ×2 + 38.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210580144389 + 38.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210580144389[0m ×2 + 38.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002574290177405 + 38.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002574290177405[0m ×2 + 38.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839508552360 + 38.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839508552360[0m ×2 + 38.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006042944723 + 38.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006042944723[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419575056667 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419575056667[0m ×2 + 38.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002005559390187 + 38.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002005559390187[0m ×2 + 38.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524313349404 + 38.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524313349404[0m ×2 + 38.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002858287778922 + 38.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002858287778922[0m ×2 + 38.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061527920749 + 38.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061527920749[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176261078224 + 38.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176261078224[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002543242162403 + 38.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002543242162403[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002826462670932 + 38.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002826462670932[0m ×2 + 38.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010400656679 + 38.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010400656679[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458963388380 + 38.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458963388380[0m ×2 + 38.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856239805217 + 38.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856239805217[0m ×2 + 38.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037097922853 + 38.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037097922853[0m ×2 + 38.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002482052263977 + 38.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002482052263977[0m ×2 + 38.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002948902543827 + 38.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002948902543827[0m ×2 + 38.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212047463768 + 38.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212047463768[0m ×2 + 38.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342877663792 + 38.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342877663792[0m ×2 + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095810 ms (missed cycles : 2). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095810 ms (missed cycles : 2).[0m ×2 + 38.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392738945147 + 38.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392738945147[0m ×2 + 38.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396961375907 + 38.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396961375907[0m ×2 + 38.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001815923405599 + 38.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001815923405599[0m ×2 + 38.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001909674534135 + 38.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001909674534135[0m ×2 + 38.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002558124469933 + 38.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002558124469933[0m ×2 + 38.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962631601517 + 38.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962631601517[0m ×2 + 38.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003198236233743 + 38.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003198236233743[0m ×2 + 38.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322188436254 + 38.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322188436254[0m ×2 + 38.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376263294703 + 38.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376263294703[0m ×2 + 38.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389642960973 + 38.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389642960973[0m ×2 + 38.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381786294341 + 38.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381786294341[0m ×2 + 38.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364982172812 + 38.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364982172812[0m ×2 + 38.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346461054336 + 38.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346461054336[0m ×2 + 38.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621856994878 + 39.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621856994878[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002085318502175 + 39.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002085318502175[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002604344675157 + 39.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002604344675157[0m ×2 + 39.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002945293398628 + 39.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002945293398628[0m ×2 + 39.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157736854278 + 39.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157736854278[0m ×2 + 39.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281346193597 + 39.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281346193597[0m ×2 + 39.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346340710212 + 39.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346340710212[0m ×2 + 39.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374738918379 + 39.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374738918379[0m ×2 + 39.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003620847743306 + 39.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003620847743306[0m ×2 + 39.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535678960090 + 39.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535678960090[0m ×2 + 39.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467806828969 + 39.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467806828969[0m ×2 + 39.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416965503253 + 39.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416965503253[0m ×2 + 39.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381099926061 + 39.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381099926061[0m ×2 + 39.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487711035076 + 39.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487711035076[0m ×2 + 39.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002331440995475 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002331440995475[0m ×2 + 39.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002870421480501 + 39.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002870421480501[0m ×2 + 39.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716045838836 + 39.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716045838836[0m ×2 + 39.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003722439123551 + 39.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003722439123551[0m ×2 + 39.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680061185706 + 39.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680061185706[0m ×2 + 39.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003618007742890 + 39.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003618007742890[0m ×2 + 39.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553487199053 + 39.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553487199053[0m ×2 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495627534551 + 39.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495627534551[0m ×2 + 39.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448348864526 + 39.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448348864526[0m ×2 + 39.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412434292099 + 39.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412434292099[0m ×2 + 39.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001818043755039 + 39.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001818043755039[0m ×2 + 39.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002389309779995 + 39.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002389309779995[0m ×2 + 39.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118520692513 + 39.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118520692513[0m ×2 + 39.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004057923178129 + 39.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004057923178129[0m ×2 + 39.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003838217653766 + 39.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003838217653766[0m ×2 + 39.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002100051794255 + 39.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002100051794255[0m ×2 + 39.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905159483721 ×2 + 39.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905159483721[0m ×4 + 39.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733313268752 + 39.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733313268752[0m ×2 + 39.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604994503523 + 39.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604994503523[0m ×2 + 39.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001849907449082 + 39.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001849907449082[0m ×2 + 39.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951202989728 + 39.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951202989728[0m ×2 + 39.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002627254471943 + 39.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002627254471943[0m ×2 + 39.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312651488768 + 39.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312651488768[0m ×2 + 39.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854550851783 + 39.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854550851783[0m ×2 + 39.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183958267713 + 39.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183958267713[0m ×2 + 39.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707708941569 + 39.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707708941569[0m ×2 + 39.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296059663278 + 39.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296059663278[0m ×2 + 39.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980024593362 ×2 + 39.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980024593362[0m ×4 + 39.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748700250542 + 39.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748700250542[0m ×2 + 39.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003587140406027 + 39.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003587140406027[0m ×2 + 39.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003479888276215 + 39.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003479888276215[0m ×2 + 39.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412894165351 + 39.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412894165351[0m ×2 + 39.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374374545377 + 39.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374374545377[0m ×2 + 39.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772967808529 + 39.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772967808529[0m ×2 + 39.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700400023656 + 39.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700400023656[0m ×2 + 39.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609534632960 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609534632960[0m ×2 + 39.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537366259119 ×2 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537366259119[0m ×4 + 39.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482745976579 + 39.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482745976579[0m ×2 + 39.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785036509714 + 39.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785036509714[0m ×2 + 39.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002671793286820 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002671793286820[0m ×2 + 39.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239756338460 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239756338460[0m ×2 + 39.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905422900799 ×2 + 39.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905422900799[0m ×4 + 39.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511989303417 + 39.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511989303417[0m ×2 + 39.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001891145014262 + 39.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001891145014262[0m ×2 + 39.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001044662509916 + 39.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001044662509916[0m ×2 + 39.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000508632742552 ×2 + 39.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000508632742552[0m ×4 + 39.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498200877963 + 39.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498200877963[0m ×2 + 39.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001862686967899 ×2 + 39.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001862686967899[0m ×4 + 39.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699111136922 + 39.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699111136922[0m ×2 + 39.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188971108528 + 39.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188971108528[0m ×2 + 39.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447767447909 + 39.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447767447909[0m ×2 + 39.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004904233062657 + 39.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004904233062657[0m ×2 + 39.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005769654937879 + 39.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005769654937879[0m ×2 + 39.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896030114689 + 39.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896030114689[0m ×2 + 39.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752492027584 + 39.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752492027584[0m ×2 + 39.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808398741322 + 39.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808398741322[0m ×2 + 39.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161182490738 + 39.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161182490738[0m ×2 + 39.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739103711688 + 39.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739103711688[0m ×2 + 39.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004821144369814 + 39.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004821144369814[0m ×2 + 39.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563791 ms (missed cycles : 3). + 39.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172043081008 + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563791 ms (missed cycles : 3).[0m ×2 + 39.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172043081008[0m ×2 + 39.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846389230616 + 39.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846389230616[0m ×2 + 39.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156634126248 + 39.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156634126248[0m ×2 + 39.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724976542462 + 39.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724976542462[0m ×2 + 39.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010029524214 + 39.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010029524214[0m ×2 + 39.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005780572704609 + 39.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005780572704609[0m ×2 + 39.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004864606516704 + 39.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004864606516704[0m ×2 + 39.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649362121318 + 39.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649362121318[0m ×2 + 39.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154447850795 + 40.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154447850795[0m ×2 + 40.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132397424759 + 40.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132397424759[0m ×2 + 40.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396568526264 + 40.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396568526264[0m ×2 + 40.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002328485189225 + 40.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002328485189225[0m ×2 + 40.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941185234311 ×2 + 40.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941185234311[0m ×4 + 40.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997375654608 + 40.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997375654608[0m ×2 + 40.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317796252169 + 40.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317796252169[0m ×2 + 40.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176664425260 + 40.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176664425260[0m ×2 + 40.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595749380416 + 40.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595749380416[0m ×2 + 40.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476513619019 + 40.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476513619019[0m ×2 + 40.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653098520056 + 40.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653098520056[0m ×2 + 40.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411763503685 + 40.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411763503685[0m ×2 + 40.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533905517675 + 40.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533905517675[0m ×2 + 40.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276016366279 ×2 + 40.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276016366279[0m ×4 + 40.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406243815828 + 40.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406243815828[0m ×2 + 40.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164908675118 + 40.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164908675118[0m ×2 + 40.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122409840950 + 40.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122409840950[0m ×2 + 40.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025674570187 + 40.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025674570187[0m ×2 + 40.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004268718137865 + 40.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004268718137865[0m ×2 + 40.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094673580683 + 40.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094673580683[0m ×2 + 40.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291009254611 + 40.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291009254611[0m ×2 + 40.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005087535055129 + 40.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005087535055129[0m ×2 + 40.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004091805620335 + 40.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004091805620335[0m ×2 + 40.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003776020214872 + 40.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003776020214872[0m ×2 + 40.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615135405846 + 40.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615135405846[0m ×2 + 40.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376528700820 + 40.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376528700820[0m ×2 + 40.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005821699689570 + 40.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005821699689570[0m ×2 + 40.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743229639955 + 40.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743229639955[0m ×2 + 40.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334897057374 + 40.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334897057374[0m ×2 + 40.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005694981005345 + 40.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005694981005345[0m ×2 + 40.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588937948323 + 40.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588937948323[0m ×2 + 40.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782804801406 + 40.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782804801406[0m ×2 + 40.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753448539570 + 40.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753448539570[0m ×2 + 40.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005368974129001 + 40.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005368974129001[0m ×2 + 40.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393880417871 ×2 + 40.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393880417871[0m ×4 + 40.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725022665167 + 40.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725022665167[0m ×2 + 40.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259229079288 + 40.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259229079288[0m ×2 + 40.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005211924473497 + 40.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005211924473497[0m ×2 + 40.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758360128958 + 40.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758360128958[0m ×2 + 40.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006033957567989 + 40.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006033957567989[0m ×2 + 40.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006138700006780 + 40.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006138700006780[0m ×2 + 40.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143216041190 + 40.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143216041190[0m ×2 + 40.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006095120822131 ×2 + 40.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006095120822131[0m ×4 + 40.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006024822352567 + 40.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006024822352567[0m ×2 + 40.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667082774710 + 40.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667082774710[0m ×2 + 40.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084727419176 + 40.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084727419176[0m ×2 + 40.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364650500589 + 40.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364650500589[0m ×2 + 40.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976198402074 + 40.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976198402074[0m ×2 + 40.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291165052294 + 40.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291165052294[0m ×2 + 40.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501190133636 + 40.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501190133636[0m ×2 + 40.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002472150792296 + 40.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002472150792296[0m ×2 + 40.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943693036558 + 40.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943693036558[0m ×2 + 40.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880836515611 + 40.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880836515611[0m ×2 + 40.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437360470350 + 40.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437360470350[0m ×2 + 40.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734712613469 + 40.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734712613469[0m ×2 + 40.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005864355844927 + 40.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005864355844927[0m ×2 + 40.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005892183315200 + 40.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005892183315200[0m ×2 + 40.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005863569974564 + 40.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005863569974564[0m ×2 + 40.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046999938687 + 40.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046999938687[0m ×2 + 40.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710275785451 + 40.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710275785451[0m ×2 + 40.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409191740047 + 40.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409191740047[0m ×2 + 40.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003703205096492 + 40.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003703205096492[0m ×2 + 40.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564955766352 + 40.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564955766352[0m ×2 + 40.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007411172178073 + 40.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007411172178073[0m ×2 + 40.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006849785374814 + 40.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006849785374814[0m ×2 + 40.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176434215058 + 40.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176434215058[0m ×2 + 40.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078658858111 + 40.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078658858111[0m ×2 + 40.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002271574337974 + 40.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002271574337974[0m ×2 + 40.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959445112977 + 40.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959445112977[0m ×2 + 40.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979977451630 + 40.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979977451630[0m ×2 + 40.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005540886938270 + 40.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005540886938270[0m ×2 + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058653 ms (missed cycles : 4). + 40.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006990260501643 + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058653 ms (missed cycles : 4).[0m ×2 + 40.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006990260501643[0m ×2 + 40.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003500810053297 + 40.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003500810053297[0m ×2 + 40.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742636609137 + 40.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742636609137[0m ×2 + 40.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076351866552 + 40.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076351866552[0m ×2 + 40.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892438019186 + 40.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892438019186[0m ×2 + 40.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007597724577722 + 40.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007597724577722[0m ×2 + 40.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009199182997237 + 40.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009199182997237[0m ×2 + 40.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007817594786887 + 40.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007817594786887[0m ×2 + 40.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006810263472534 + 40.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006810263472534[0m ×2 + 40.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003487971065048 + 40.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003487971065048[0m ×2 + 41.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006240215425106 + 41.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006240215425106[0m ×2 + 41.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185491992509 + 41.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185491992509[0m ×2 + 41.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979362068612 + 41.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979362068612[0m ×2 + 41.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007373548115451 + 41.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007373548115451[0m ×2 + 41.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037966317408 + 41.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037966317408[0m ×2 + 41.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006664496110210 + 41.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006664496110210[0m ×2 + 41.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008302878150068 + 41.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008302878150068[0m ×2 + 41.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007068563014276 + 41.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007068563014276[0m ×2 + 41.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646686272561 + 41.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646686272561[0m ×2 + 41.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006219902842208 + 41.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006219902842208[0m ×2 + 41.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007867640897146 + 41.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007867640897146[0m ×2 + 41.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160210246708 + 41.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160210246708[0m ×2 + 41.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006488617136671 + 41.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006488617136671[0m ×2 + 41.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007970089592760 + 41.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007970089592760[0m ×2 + 41.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006444627141988 + 41.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006444627141988[0m ×2 + 41.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005885251543979 + 41.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005885251543979[0m ×2 + 41.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007575410726271 + 41.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007575410726271[0m ×2 + 41.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008585082855440 + 41.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008585082855440[0m ×2 + 41.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559335952038 + 41.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559335952038[0m ×2 + 41.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006552392938730 + 41.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006552392938730[0m ×2 + 41.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007821080010266 + 41.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007821080010266[0m ×2 + 41.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006493583136826 + 41.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006493583136826[0m ×2 + 41.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003173906577658 + 41.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003173906577658[0m ×2 + 41.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310372 ms (missed cycles : 5). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310372 ms (missed cycles : 5).[0m ×2 + 42.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673310 ms (missed cycles : 3). + 42.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673310 ms (missed cycles : 3).[0m ×2 + 43.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551141451612 + 43.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551141451612[0m ×2 + 43.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873510234896 + 43.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873510234896[0m ×2 + 43.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040619066528 + 43.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040619066528[0m ×2 + 43.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106979180861 + 43.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001106979180861[0m ×2 + 43.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001112821513099 + 43.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001112821513099[0m ×2 + 43.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086101781961 + 43.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086101781961[0m ×2 + 43.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386703136953 + 43.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386703136953[0m ×2 + 43.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693389589536 + 43.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693389589536[0m ×2 + 43.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369796510738 + 43.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369796510738[0m ×2 + 43.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001141964867777 + 43.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001141964867777[0m ×2 + 43.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000989929310080 + 43.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000989929310080[0m ×2 + 43.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894998815150 + 43.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894998815150[0m ×2 + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703948 ms (missed cycles : 2). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703948 ms (missed cycles : 2).[0m ×2 + 43.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001200279376717 + 43.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001200279376717[0m ×2 + 43.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001020750856671 + 43.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001020750856671[0m ×2 + 43.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000788839124213 + 43.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000788839124213[0m ×2 + 43.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001026874412528 + 43.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001026874412528[0m ×2 + 43.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134229439858 + 43.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134229439858[0m ×2 + 43.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001564322679812 + 43.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001564322679812[0m ×2 + 43.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315325732738 + 43.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315325732738[0m ×2 + 44.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001140672598684 + 44.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001140672598684[0m ×2 + 44.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001025266700829 + 44.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001025266700829[0m ×2 + 44.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954312062670 + 44.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954312062670[0m ×2 + 44.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915211233141 + 44.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915211233141[0m ×2 + 44.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000897822403437 + 44.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000897822403437[0m ×2 + 44.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001216684803862 + 44.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001216684803862[0m ×2 + 44.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001083730195240 + 44.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001083730195240[0m ×2 + 44.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000107918616 + 44.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000107918616[0m ×2 + 44.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000952318834135 + 44.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000952318834135[0m ×2 + 44.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000929301840174 + 44.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000929301840174[0m ×2 + 44.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000922518389306 + 44.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000922518389306[0m ×2 + 44.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000905671244647 ×2 + 44.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000905671244647[0m ×4 + 44.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497304879106 + 44.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497304879106[0m ×2 + 44.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335094067714 + 44.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335094067714[0m ×2 + 44.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214787620325 + 44.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214787620325[0m ×2 + 44.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001130324539392 + 44.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001130324539392[0m ×2 + 44.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074604290042 + 44.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074604290042[0m ×2 + 44.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040572756888 + 44.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040572756888[0m ×2 + 44.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001542432926087 ×2 + 44.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001542432926087[0m ×4 + 44.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337603925794 + 44.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337603925794[0m ×2 + 44.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001280111721397 + 44.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001280111721397[0m ×2 + 44.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001190024695184 + 44.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001190024695184[0m ×2 + 44.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001130462541153 + 44.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001130462541153[0m ×2 + 44.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093965228165 + 44.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093965228165[0m ×2 + 44.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001605331682255 + 44.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001605331682255[0m ×2 + 44.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394904594943 + 44.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394904594943[0m ×2 + 44.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001263470506287 + 44.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001263470506287[0m ×2 + 44.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001178567311413 + 44.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001178567311413[0m ×2 + 44.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257420578065 + 44.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257420578065[0m ×2 + 44.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001747119834226 + 44.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001747119834226[0m ×2 + 44.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497430255397 + 44.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497430255397[0m ×2 + 44.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001328796629793 + 44.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001328796629793[0m ×2 + 44.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001221274860833 + 44.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001221274860833[0m ×2 + 44.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001158421708174 + 44.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001158421708174[0m ×2 + 44.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272040806916 + 44.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272040806916[0m ×2 + 44.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781957476326 + 44.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781957476326[0m ×2 + 44.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529994684257 + 44.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529994684257[0m ×2 + 44.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382663214353 + 44.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382663214353[0m ×2 + 44.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001285562135266 + 44.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001285562135266[0m ×2 + 44.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783756737289 + 44.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783756737289[0m ×2 + 44.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531185777342 + 44.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531185777342[0m ×2 + 44.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365742676360 + 44.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365742676360[0m ×2 + 44.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001264339569403 + 44.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001264339569403[0m ×2 + 44.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001208211947171 + 44.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001208211947171[0m ×2 + 44.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001746321606169 + 44.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001746321606169[0m ×2 + 44.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777272962904 + 44.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777272962904[0m ×2 + 44.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536087158533 + 44.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536087158533[0m ×2 + 44.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379634195755 + 44.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379634195755[0m ×2 + 44.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284896578662 + 44.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284896578662[0m ×2 + 44.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233451283166 + 44.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233451283166[0m ×2 + 44.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781565740063 + 44.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781565740063[0m ×2 + 44.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084984520332 + 44.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084984520332[0m ×2 + 44.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789198208057 + 44.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789198208057[0m ×2 + 44.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002215730649561 + 44.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002215730649561[0m ×2 + 44.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001874194144034 + 44.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001874194144034[0m ×2 + 44.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633601760228 + 44.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633601760228[0m ×2 + 44.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055973208224 + 44.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055973208224[0m ×2 + 44.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001728884304871 + 44.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001728884304871[0m ×2 + 44.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515238951571 + 44.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515238951571[0m ×2 + 44.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384550485926 + 44.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384550485926[0m ×2 + 44.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899043530743 + 44.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899043530743[0m ×2 + 44.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633974663594 + 44.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633974663594[0m ×2 + 44.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001491746085138 + 44.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001491746085138[0m ×2 + 44.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996069063147 + 44.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996069063147[0m ×2 + 44.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001716081670729 + 44.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001716081670729[0m ×2 + 44.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001921490545541 + 44.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001921490545541[0m ×2 + 44.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659309923944 + 44.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659309923944[0m ×2 + 44.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001493062093767 + 44.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001493062093767[0m ×2 + 44.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001993018670041 + 44.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001993018670041[0m ×2 + 44.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164055644114 + 44.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164055644114[0m ×2 + 44.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337304814286 + 44.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337304814286[0m ×2 + 44.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002043470371292 + 44.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002043470371292[0m ×2 + 44.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463392005502 + 44.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463392005502[0m ×2 + 44.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690818029708 ×2 + 44.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690818029708[0m ×4 + 44.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186776577696 + 44.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186776577696[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381216 ms (missed cycles : 3). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381216 ms (missed cycles : 3).[0m ×2 + 44.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789634797247 + 44.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789634797247[0m ×2 + 44.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354038890659 + 44.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354038890659[0m ×2 + 44.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019923807987 + 44.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019923807987[0m ×2 + 44.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430117614062 + 44.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430117614062[0m ×2 + 44.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047410961086 + 44.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047410961086[0m ×2 + 44.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404544721644 + 44.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404544721644[0m ×2 + 44.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997772419277 + 44.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997772419277[0m ×2 + 44.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001730735187706 + 44.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001730735187706[0m ×2 + 45.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188693054857 + 45.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188693054857[0m ×2 + 45.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856920020339 + 45.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856920020339[0m ×2 + 45.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001646780033071 + 45.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001646780033071[0m ×2 + 45.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148717302603 + 45.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148717302603[0m ×2 + 45.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843324129444 + 45.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843324129444[0m ×2 + 45.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278351510542 + 45.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278351510542[0m ×2 + 45.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001869892202490 + 45.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001869892202490[0m ×2 + 45.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321873646670 + 45.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321873646670[0m ×2 + 45.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001970290714649 + 45.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001970290714649[0m ×2 + 45.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001742099516039 + 45.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001742099516039[0m ×2 + 45.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238115875935 + 45.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238115875935[0m ×2 + 45.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917572152999 + 45.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917572152999[0m ×2 + 45.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350314777807 + 45.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350314777807[0m ×2 + 45.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001984468780603 ×2 + 45.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001984468780603[0m ×4 + 45.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001750311944398 + 45.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001750311944398[0m ×2 + 45.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002250985723700 + 45.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002250985723700[0m ×2 + 45.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001930146610741 + 45.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001930146610741[0m ×2 + 45.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002369860759706 + 45.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002369860759706[0m ×2 + 45.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004143208755 + 45.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004143208755[0m ×2 + 45.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284306284782 + 45.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284306284782[0m ×2 + 45.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091965568893 + 45.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091965568893[0m ×2 + 45.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002591017515881 + 45.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002591017515881[0m ×2 + 45.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877612279768 + 45.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877612279768[0m ×2 + 45.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373435068331 + 45.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373435068331[0m ×2 + 45.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682044307235 + 45.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682044307235[0m ×2 + 45.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907597984616 + 45.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907597984616[0m ×2 + 45.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350812698995 + 45.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350812698995[0m ×2 + 45.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639110616447 + 45.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639110616447[0m ×2 + 45.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002162822146688 + 45.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002162822146688[0m ×2 + 45.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002517012250688 + 45.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002517012250688[0m ×2 + 45.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002087989021708 + 45.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002087989021708[0m ×2 + 45.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478208272919 + 45.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478208272919[0m ×2 + 45.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994974255203 + 45.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994974255203[0m ×2 + 45.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002462522627629 + 45.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002462522627629[0m ×2 + 45.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002759052021796 + 45.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002759052021796[0m ×2 + 45.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272264448731 + 45.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272264448731[0m ×2 + 45.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621359559375 + 45.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621359559375[0m ×2 + 45.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176327042604 + 45.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176327042604[0m ×2 + 45.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560511346726 + 45.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560511346726[0m ×2 + 45.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685282872286 + 45.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685282872286[0m ×2 + 45.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284487420241 + 45.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284487420241[0m ×2 + 45.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516309825283 + 45.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516309825283[0m ×2 + 45.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311466191522 + 45.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311466191522[0m ×2 + 45.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002156139883726 + 45.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002156139883726[0m ×2 + 45.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673376212149 + 45.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673376212149[0m ×2 + 45.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976506075175 + 45.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976506075175[0m ×2 + 45.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137741255933 + 45.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137741255933[0m ×2 + 45.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003209914293412 + 45.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003209914293412[0m ×2 + 45.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553298621106 + 45.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553298621106[0m ×2 + 45.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801639313234 + 45.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801639313234[0m ×2 + 45.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280896258075 + 45.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280896258075[0m ×2 + 45.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632316620656 + 45.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632316620656[0m ×2 + 45.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863456862012 + 45.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863456862012[0m ×2 + 45.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002327356468025 ×2 + 45.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002327356468025[0m ×4 + 45.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670474643989 + 45.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670474643989[0m ×2 + 45.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002212735099006 + 45.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002212735099006[0m ×2 + 45.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002611225834477 + 45.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002611225834477[0m ×2 + 45.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002872548186184 + 45.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002872548186184[0m ×2 + 45.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001541110866576 + 45.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001541110866576[0m ×2 + 45.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200004349130 + 45.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200004349130[0m ×2 + 45.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009795857466 + 45.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009795857466[0m ×2 + 45.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458646110361 + 45.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458646110361[0m ×2 + 45.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788043074361 + 45.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788043074361[0m ×2 + 45.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997270876393 + 45.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997270876393[0m ×2 + 45.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002254981592279 + 45.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002254981592279[0m ×2 + 45.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013632559418 + 45.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013632559418[0m ×2 + 45.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001979746195231 + 45.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001979746195231[0m ×2 + 45.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580476057793 + 45.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580476057793[0m ×2 + 45.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952480502714 + 45.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952480502714[0m ×2 + 45.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828496833514 + 45.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828496833514[0m ×2 + 45.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001651853120419 + 45.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001651853120419[0m ×2 + 45.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969573252599 + 45.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969573252599[0m ×2 + 45.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639981681989 + 45.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639981681989[0m ×2 + 45.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040913543887 + 45.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040913543887[0m ×2 + 45.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260632824543 + 45.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260632824543[0m ×2 + 45.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085920160065 + 45.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085920160065[0m ×2 + 45.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879646758558 + 45.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879646758558[0m ×2 + 45.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699336002573 + 45.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699336002573[0m ×2 + 45.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852309201726 + 45.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852309201726[0m ×2 + 45.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005744334656 + 45.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005744334656[0m ×2 + 45.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109860902839 + 45.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109860902839[0m ×2 + 45.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003178355057597 ×2 + 45.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003178355057597[0m ×4 + 45.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222060211886 + 45.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222060211886[0m ×2 + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.876138 ms (missed cycles : 6). + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.876138 ms (missed cycles : 6).[0m ×2 + 45.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544368056969 + 45.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544368056969[0m ×2 + 46.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624587317698 + 46.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624587317698[0m ×2 + 46.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886637807432 + 46.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886637807432[0m ×2 + 46.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040805688264 + 46.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040805688264[0m ×2 + 46.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687570541613 + 46.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687570541613[0m ×2 + 46.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079306535300 + 46.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079306535300[0m ×2 + 46.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297863405990 + 46.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297863405990[0m ×2 + 46.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001857027916388 + 46.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001857027916388[0m ×2 + 46.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476110182770 + 46.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476110182770[0m ×2 + 46.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003314073638868 + 46.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003314073638868[0m ×2 + 46.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402696165808 + 46.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402696165808[0m ×2 + 46.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433442860818 + 46.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433442860818[0m ×2 + 46.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432181907981 + 46.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432181907981[0m ×2 + 46.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415697790322 + 46.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415697790322[0m ×2 + 46.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394230840551 + 46.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394230840551[0m ×2 + 46.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373512660701 ×2 + 46.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373512660701[0m ×4 + 46.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356317914256 + 46.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356317914256[0m ×2 + 46.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788571279061 + 46.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788571279061[0m ×2 + 46.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460400073295 + 46.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460400073295[0m ×2 + 46.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897979034361 + 46.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897979034361[0m ×2 + 46.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742407633513 + 46.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742407633513[0m ×2 + 46.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695223658904 + 46.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695223658904[0m ×2 + 46.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629452785756 + 46.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629452785756[0m ×2 + 46.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561994992155 + 46.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561994992155[0m ×2 + 46.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501774948966 + 46.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501774948966[0m ×2 + 46.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452579003527 ×2 + 46.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452579003527[0m ×4 + 46.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001505561030010 ×2 + 46.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001505561030010[0m ×4 + 46.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347492373850 + 46.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347492373850[0m ×2 + 46.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885141138890 + 46.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885141138890[0m ×2 + 46.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207565412342 + 46.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207565412342[0m ×2 + 46.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485536552526 + 46.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485536552526[0m ×2 + 46.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204083209187 + 46.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204083209187[0m ×2 + 46.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763884804282 + 46.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763884804282[0m ×2 + 46.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003110912652807 + 46.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003110912652807[0m ×2 + 46.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311107824820 + 46.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311107824820[0m ×2 + 46.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004748687794031 + 46.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004748687794031[0m ×2 + 46.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291971994630 + 46.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291971994630[0m ×2 + 46.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953227659374 + 46.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953227659374[0m ×2 + 46.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003713270464522 + 46.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003713270464522[0m ×2 + 46.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799091128548 + 46.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799091128548[0m ×2 + 46.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647020696987 + 46.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647020696987[0m ×2 + 46.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816752471882 + 46.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816752471882[0m ×2 + 46.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678642184852 + 46.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678642184852[0m ×2 + 46.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574445329992 + 46.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574445329992[0m ×2 + 46.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499293177687 + 46.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499293177687[0m ×2 + 46.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447495908581 + 46.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447495908581[0m ×2 + 46.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413541620322 ×2 + 46.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413541620322[0m ×4 + 46.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392604236225 + 46.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392604236225[0m ×2 + 46.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380738152587 + 46.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380738152587[0m ×2 + 46.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374886374180 + 46.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374886374180[0m ×2 + 46.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372789230591 + 46.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372789230591[0m ×2 + 46.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372850342605 + 46.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372850342605[0m ×2 + 46.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373994492404 + 46.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373994492404[0m ×2 + 46.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375536482675 + 46.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375536482675[0m ×2 + 46.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004231600856931 + 46.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004231600856931[0m ×2 + 46.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043278877891 + 46.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043278877891[0m ×2 + 46.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003298695929096 + 46.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003298695929096[0m ×2 + 46.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750283136300 + 46.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750283136300[0m ×2 + 46.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298396725226 + 46.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298396725226[0m ×2 + 46.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964554696127 + 46.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964554696127[0m ×2 + 46.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728205981607 + 46.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728205981607[0m ×2 + 46.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568120157337 + 46.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568120157337[0m ×2 + 46.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004807250854729 + 46.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004807250854729[0m ×2 + 46.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241379108989 + 46.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241379108989[0m ×2 + 46.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856790413259 + 46.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856790413259[0m ×2 + 46.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003607762771363 + 46.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003607762771363[0m ×2 + 46.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723627845240 + 46.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723627845240[0m ×2 + 46.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932699054895 + 46.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932699054895[0m ×2 + 46.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337954318579 + 46.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337954318579[0m ×2 + 46.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927649946461 + 46.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927649946461[0m ×2 + 46.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075016692820 + 46.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075016692820[0m ×2 + 46.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841305326463 ×2 + 46.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841305326463[0m ×4 + 46.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993074293486 + 46.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993074293486[0m ×2 + 46.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949418410065 + 46.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949418410065[0m ×2 + 46.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202905471155 + 46.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202905471155[0m ×2 + 46.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754909925958 + 46.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754909925958[0m ×2 + 46.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005688879310323 + 46.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005688879310323[0m ×2 + 46.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863939468527 + 46.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863939468527[0m ×2 + 46.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609069625055 + 46.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609069625055[0m ×2 + 46.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698164459350 ×2 + 46.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698164459350[0m ×4 + 46.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952991 ms (missed cycles : 2). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952991 ms (missed cycles : 2).[0m ×2 + 46.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788922595864 + 46.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788922595864[0m ×2 + 47.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609816622322 + 47.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609816622322[0m ×2 + 47.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952710526524 + 47.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952710526524[0m ×2 + 47.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754954136804 + 47.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754954136804[0m ×2 + 47.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856970197737 + 47.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856970197737[0m ×2 + 47.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558891111951 + 47.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558891111951[0m ×2 + 47.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633052950004 + 47.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633052950004[0m ×2 + 47.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005344766678234 + 47.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005344766678234[0m ×2 + 47.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449935149760 + 47.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449935149760[0m ×2 + 47.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867115577197 + 47.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867115577197[0m ×2 + 47.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657267724264 + 47.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657267724264[0m ×2 + 47.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794549619410 + 47.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794549619410[0m ×2 + 47.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005508059675351 + 47.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005508059675351[0m ×2 + 47.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034472914462 + 47.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034472914462[0m ×2 + 47.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340994027512 + 47.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340994027512[0m ×2 + 47.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189656883617 + 47.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189656883617[0m ×2 + 47.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385265413855 + 47.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385265413855[0m ×2 + 47.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176130015058 + 47.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176130015058[0m ×2 + 47.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344411669786 + 47.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344411669786[0m ×2 + 47.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123127759534 + 47.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123127759534[0m ×2 + 47.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292035956957 + 47.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292035956957[0m ×2 + 47.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133636441999 + 47.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133636441999[0m ×2 + 47.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280095934319 + 47.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280095934319[0m ×2 + 47.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634313290451 + 47.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634313290451[0m ×2 + 47.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274639403840 + 47.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274639403840[0m ×2 + 47.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292126775817 + 47.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292126775817[0m ×2 + 47.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005875465320626 + 47.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005875465320626[0m ×2 + 47.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006170029163602 + 47.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006170029163602[0m ×2 + 47.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282863742469 + 47.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282863742469[0m ×2 + 47.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981214058211 + 47.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981214058211[0m ×2 + 47.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426538197570 + 47.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426538197570[0m ×2 + 47.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392924350008 + 47.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392924350008[0m ×2 + 47.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005038780348113 ×2 + 47.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005038780348113[0m ×4 + 47.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005456015717245 + 47.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005456015717245[0m ×2 + 47.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873266941016 + 47.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873266941016[0m ×2 + 47.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249600999934 + 47.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249600999934[0m ×2 + 47.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203706652921 + 47.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203706652921[0m ×2 + 47.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002417115350073 + 47.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002417115350073[0m ×2 + 47.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134248334041 + 47.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134248334041[0m ×2 + 47.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194418591309 + 47.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194418591309[0m ×2 + 47.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797428659399 + 47.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797428659399[0m ×2 + 47.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003276084957863 + 47.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003276084957863[0m ×2 + 47.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453421498314 + 47.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453421498314[0m ×2 + 47.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005195949881748 + 47.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005195949881748[0m ×2 + 47.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113855773460 + 47.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113855773460[0m ×2 + 47.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999681148245 ×2 + 47.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999681148245[0m ×4 + 47.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002951839868191 + 47.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002951839868191[0m ×2 + 47.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771960412955 + 47.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771960412955[0m ×2 + 47.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932176829662 + 47.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932176829662[0m ×2 + 47.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604015408627 + 47.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604015408627[0m ×2 + 47.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005948725991042 + 47.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005948725991042[0m ×2 + 47.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006085885991772 + 47.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006085885991772[0m ×2 + 47.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100339528419 + 47.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100339528419[0m ×2 + 47.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049561125116 + 47.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049561125116[0m ×2 + 47.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200260700111 + 47.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200260700111[0m ×2 + 47.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001396443225568 ×2 + 47.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001396443225568[0m ×4 + 47.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330830130470 + 47.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330830130470[0m ×2 + 47.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533260717483 + 47.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533260717483[0m ×2 + 47.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003120201008 + 47.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003120201008[0m ×2 + 47.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170042466984 + 47.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170042466984[0m ×2 + 47.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762780479626 + 47.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762780479626[0m ×2 + 47.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777928031475 + 47.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777928031475[0m ×2 + 47.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381490804668 ×2 + 47.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381490804668[0m ×4 + 47.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958111667472 + 47.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958111667472[0m ×2 + 47.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143347455348 + 47.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143347455348[0m ×2 + 47.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901810766282 + 47.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901810766282[0m ×2 + 47.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618877935664 + 47.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618877935664[0m ×2 + 47.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578601151511 + 47.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578601151511[0m ×2 + 47.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843203401352 + 47.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843203401352[0m ×2 + 47.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577028090757 + 47.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577028090757[0m ×2 + 47.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000760757130565 + 47.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000760757130565[0m ×2 + 47.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000265897396382 + 47.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000265897396382[0m ×2 + 47.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186234036641 + 47.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186234036641[0m ×2 + 47.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080793563140 + 47.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080793563140[0m ×2 + 47.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049770488639 ×2 + 47.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049770488639[0m ×4 + 47.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025434399655 + 47.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025434399655[0m ×2 + 47.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007799950659 + 47.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007799950659[0m ×2 + 47.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003957578654 + 47.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003957578654[0m ×2 + 47.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010997108890 + 47.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010997108890[0m ×2 + 47.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014512058965 + 47.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014512058965[0m ×2 + 47.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015571132877 ×2 + 47.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015571132877[0m ×4 + 47.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015050139187 + 47.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015050139187[0m ×2 + 47.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013618917988 + 47.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013618917988[0m ×2 + 47.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011758474498 + 47.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011758474498[0m ×2 + 48.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009791931983 + 48.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009791931983[0m ×2 + 48.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285457 ms (missed cycles : 4). + 48.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285457 ms (missed cycles : 4).[0m ×2 + 48.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007919185336 + 48.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007919185336[0m ×2 + 48.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002738774086 + 48.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002738774086[0m ×2 + 48.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001474187112 + 48.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001474187112[0m ×2 + 48.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001067875997 + 48.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001067875997[0m ×2 + 48.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000770384150 + 48.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000770384150[0m ×2 + 48.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000555670878 + 48.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000555670878[0m ×2 + 48.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000402489672 + 48.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000402489672[0m ×2 + 48.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000294108306 + 48.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000294108306[0m ×2 + 48.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000217742915 ×2 + 48.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000217742915[0m ×4 + 48.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163886134 + 48.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163886134[0m ×2 + 48.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000125639629 + 48.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000125639629[0m ×2 + 48.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003580879946 + 48.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003580879946[0m ×2 + 48.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002852017214 ×2 + 48.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002852017214[0m ×4 + 48.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002271391323 + 48.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002271391323[0m ×2 + 48.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001147182675 + 48.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001147182675[0m ×2 + 48.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000913563105 + 48.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000913563105[0m ×2 + 48.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000727526957 + 48.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000727526957[0m ×2 + 48.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000579386255 + 48.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000579386255[0m ×2 + 48.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000461422783 + 48.25sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000461422783[0m ×2 + 48.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000367488672 + 48.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000367488672[0m ×2 + 48.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000292687686 ×2 + 48.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000292687686[0m ×4 + 48.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000233120912 + 48.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000233120912[0m ×2 + 48.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000185683944 + 48.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000185683944[0m ×2 + 48.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000147905124 + 48.32sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000147905124[0m ×2 + 48.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789160184.03474331 seconds ×3 + 48.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
+ 48.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789160184.70304847 seconds. ×3 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120090 ms (missed cycles : 2). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120090 ms (missed cycles : 2).[0m ×2 + 49.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 49.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 49.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 49.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 49.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 49.14sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 49.15sINFOros2_control_node[2026-09-11 20:56:24.867] [info] Received new action goal ×2 + 49.15sINFOros2_control_node[2026-09-11 20:56:24.867] [info] Accepted new action goal ×2 + 50.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491452 ms (missed cycles : 3). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491452 ms (missed cycles : 3).[0m ×2 + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.147790 ms (missed cycles : 5). + 51.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.147790 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.2s | 144 warnings · 327 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Segment Bottles from File"
objective_xml_string: ""
parameter_overrides: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "ML Segment Bottles from File" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_node ×6 + 0.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1789160081.82819748 seconds. ×3 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16).[0m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574029163 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574059685 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271747191 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271776904 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-09-11 20:54:43.442214541 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445575607 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445598273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-09-11 20:54:43.885575700 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914082281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914112162 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1789160085.38491511 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
+ 4.30sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 4.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789160086.11986923 seconds. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.50sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.479658 ms (missed cycles : 7). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.479658 ms (missed cycles : 7).[0m ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (5.67e-07 s). ×2 + 7.75sINFOros2_control_node[2026-09-11 20:54:49.459] [info] Received new action goal ×2 + 7.75sINFOros2_control_node[2026-09-11 20:54:49.459] [info] Accepted new action goal ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409511 ms (missed cycles : 4). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409511 ms (missed cycles : 4).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333381 ms (missed cycles : 6). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333381 ms (missed cycles : 6).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533252 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533252 ms (missed cycles : 3).[0m ×2 + 10.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.98sINFOros2_control_node[2026-09-11 20:54:52.692] [info] Received new action goal ×2 + 10.98sINFOros2_control_node[2026-09-11 20:54:52.692] [info] Accepted new action goal ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712691 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712691 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656572 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656572 ms (missed cycles : 2).[0m ×2 + 13.82sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 13.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.86sINFOros2_control_node[2026-09-11 20:54:55.572] [info] Received new action goal ×2 + 13.86sINFOros2_control_node[2026-09-11 20:54:55.572] [info] Accepted new action goal ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893259 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893259 ms (missed cycles : 3).[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.477364 ms (missed cycles : 9). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.477364 ms (missed cycles : 9).[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974584 ms (missed cycles : 6). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974584 ms (missed cycles : 6).[0m ×2 + 16.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.82sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.82sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.82sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.82sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777127 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777127 ms (missed cycles : 2).[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706057 ms (missed cycles : 3). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706057 ms (missed cycles : 3).[0m ×2 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075432 ms (missed cycles : 7). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075432 ms (missed cycles : 7).[0m ×2 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103511 ms (missed cycles : 4). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103511 ms (missed cycles : 4).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302041 ms (missed cycles : 2). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302041 ms (missed cycles : 2).[0m ×2 + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701626 ms (missed cycles : 2). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701626 ms (missed cycles : 2).[0m ×2 + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.629794 ms (missed cycles : 9). + 23.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.629794 ms (missed cycles : 9).[0m ×2 + 23.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.60sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.60sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.60sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.60sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233576 ms (missed cycles : 4). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233576 ms (missed cycles : 4).[0m ×2 + 24.59sINFOros2_control_node[2026-09-11 20:55:06.294] [info] Received new action goal ×2 + 24.59sINFOros2_control_node[2026-09-11 20:55:06.294] [info] Accepted new action goal ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200366 ms (missed cycles : 3). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200366 ms (missed cycles : 3).[0m ×2 + 25.76sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.04sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 26.04sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 26.07sINFOros2_control_node[2026-09-11 20:55:07.781] [info] Received new action goal ×2 + 26.07sINFOros2_control_node[2026-09-11 20:55:07.781] [info] Accepted new action goal ×2 + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649986 ms (missed cycles : 3). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649986 ms (missed cycles : 3).[0m ×2 + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089966 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089966 ms (missed cycles : 2).[0m ×2 + 28.21sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 28.21sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.22sINFOros2_control_node[2026-09-11 20:55:09.932] [info] Received new action goal ×2 + 28.22sINFOros2_control_node[2026-09-11 20:55:09.932] [info] Accepted new action goal ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821683 ms (missed cycles : 2). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821683 ms (missed cycles : 2).[0m ×2 + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715036 ms (missed cycles : 3). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715036 ms (missed cycles : 3).[0m ×2 + 29.98sINFOros2_control_nodeMuJoCo sim: 2.83% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877954 ms (missed cycles : 4). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877954 ms (missed cycles : 4).[0m ×2 + 31.25sINFOros2_control_node[2026-09-11 20:55:12.962] [info] Received new action goal ×2 + 31.25sINFOros2_control_node[2026-09-11 20:55:12.962] [info] Accepted new action goal ×2 + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726607 ms (missed cycles : 2). + 31.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726607 ms (missed cycles : 2).[0m ×2 + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.494455 ms (missed cycles : 9). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.494455 ms (missed cycles : 9).[0m ×2 + 33.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025620 ms (missed cycles : 2). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025620 ms (missed cycles : 2).[0m ×2 + 33.86sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 33.87sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.90sINFOros2_control_node[2026-09-11 20:55:15.605] [info] Received new action goal ×2 + 33.90sINFOros2_control_node[2026-09-11 20:55:15.605] [info] Accepted new action goal ×2 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412865 ms (missed cycles : 4). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412865 ms (missed cycles : 4).[0m ×2 + 35.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554936 ms (missed cycles : 2). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554936 ms (missed cycles : 2).[0m ×2 + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370660 ms (missed cycles : 2). + 36.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370660 ms (missed cycles : 2).[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843816 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843816 ms (missed cycles : 2).[0m ×2 + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159906 ms (missed cycles : 2). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159906 ms (missed cycles : 2).[0m ×2 + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.003296 ms (missed cycles : 7). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.003296 ms (missed cycles : 7).[0m ×2 + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.962249 ms (missed cycles : 8). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.962249 ms (missed cycles : 8).[0m ×2 + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553459 ms (missed cycles : 4). + 42.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553459 ms (missed cycles : 4).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284273 ms (missed cycles : 2). + 43.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284273 ms (missed cycles : 2).[0m ×2 + 44.75sINFOros2_control_node[2026-09-11 20:55:26.461] [info] Received new action goal ×2 + 44.75sINFOros2_control_node[2026-09-11 20:55:26.461] [info] Accepted new action goal ×2 + 44.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044866 ms (missed cycles : 2). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044866 ms (missed cycles : 2).[0m ×2 + 45.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919364 ms (missed cycles : 3). + 45.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919364 ms (missed cycles : 3).[0m ×2 + 45.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789160127.61864376 seconds ×3 + 46.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
+ 46.51sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.71sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789160128.41691637 seconds. ×3 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664546 ms (missed cycles : 3). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664546 ms (missed cycles : 3).[0m ×2 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.318689 ms (missed cycles : 5). + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.318689 ms (missed cycles : 5).[0m ×2 + 48.01sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 48.02sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.05sINFOros2_control_node[2026-09-11 20:55:29.751] [info] Received new action goal ×2 + 48.05sINFOros2_control_node[2026-09-11 20:55:29.751] [info] Accepted new action goal ×2 + 48.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086513 ms (missed cycles : 5). + 48.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086513 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.7s | 111 warnings · 2454 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×368 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×368 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×736 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×736 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225577 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225577 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537518 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537518 ms (missed cycles : 2).[0m ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844313 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844313 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1789160236.84337163 seconds ×3 + 3.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881285 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881285 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick 1 Pill Bottle with SAM3"
objective_xml_string: ""
parameter_overrides: []
+ 4.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.37sINFOobjective_server_nodeobjective_name: "Pick 1 Pill Bottle with SAM3" ×2 + 4.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.37sINFOobjective_server_node ×4 + 4.48sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1789160237.51385784 seconds. ×3 + 4.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOobjective_server_nodeFound path in 5 iterations (0.00643372 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-09-11 20:57:17.820] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-09-11 20:57:17.820] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525251 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525251 ms (missed cycles : 2).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144821 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144821 ms (missed cycles : 4).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949688 ms (missed cycles : 3). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949688 ms (missed cycles : 3).[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529116 ms (missed cycles : 3). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529116 ms (missed cycles : 3).[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934040 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934040 ms (missed cycles : 2).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817459 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817459 ms (missed cycles : 2).[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671175 ms (missed cycles : 7). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671175 ms (missed cycles : 7).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805338 ms (missed cycles : 5). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805338 ms (missed cycles : 5).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929040 ms (missed cycles : 4). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929040 ms (missed cycles : 4).[0m ×2 + 13.83sINFOobjective_server_node[0;m[0;93m2026-09-11 20:57:26.865263398 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.83sINFOobjective_server_node[0;93m2026-09-11 20:57:26.865293713 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.411142 ms (missed cycles : 7). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.411142 ms (missed cycles : 7).[0m ×2 + 14.54sINFOobjective_server_node[0;93m2026-09-11 20:57:27.564913091 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 14.54sINFOobjective_server_node[0;93m2026-09-11 20:57:27.564970303 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.71sINFOobjective_server_node[0;93m2026-09-11 20:57:27.747274447 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 14.72sINFOobjective_server_node[0;93m2026-09-11 20:57:27.750232006 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 14.72sINFOobjective_server_node[0;93m2026-09-11 20:57:27.750252139 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.11sINFOobjective_server_node[0;93m2026-09-11 20:57:28.144358772 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 15.13sINFOobjective_server_node[0;93m2026-09-11 20:57:28.165167135 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.13sINFOobjective_server_node[0;93m2026-09-11 20:57:28.165196011 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243294 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243294 ms (missed cycles : 3).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.629675 ms (missed cycles : 7). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.629675 ms (missed cycles : 7).[0m ×2 + 16.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554318 ms (missed cycles : 3). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554318 ms (missed cycles : 3).[0m ×2 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.203956 ms (missed cycles : 5). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.203956 ms (missed cycles : 5).[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217298 ms (missed cycles : 5). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217298 ms (missed cycles : 5).[0m ×2 + 19.94sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 20.28sINFOobjective_server_nodeFound path in 4 iterations (0.00458857 s). ×2 + 20.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.44sINFOobjective_server_nodeFound path in 13 iterations (0.00923383 s). ×2 + 20.52sINFOobjective_server_nodePath shortcutter: [X_________________________________X__________________________X] ×2 + 20.57sINFOobjective_server_nodeFound path in 1 iterations (0.00470308 s). ×2 + 20.66sINFOobjective_server_nodePath shortcutter: [X______________________________________X__________________X] ×2 + 20.68sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.915015 ms (missed cycles : 6). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.915015 ms (missed cycles : 6).[0m ×2 + 20.72sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 20.75sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 20.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 20.81sINFOobjective_server_nodeFound path in 8 iterations (0.00411695 s). ×2 + 20.87sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 20.91sINFOobjective_server_nodeFound path in 1 iterations (0.0064366 s). ×2 + 20.96sINFOobjective_server_nodePath shortcutter: [X_______________________________X_____________________X] ×2 + 21.00sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 21.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 21.08sINFOobjective_server_nodeFound path in 4 iterations (0.0055809 s). ×2 + 21.19sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 21.22sINFOobjective_server_nodeFound path in 4 iterations (0.00341452 s). ×2 + 21.32sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] ×2 + 21.35sINFOobjective_server_nodeFound path in 1 iterations (0.00548508 s). ×2 + 21.44sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 21.47sINFOobjective_server_nodeFound path in 1 iterations (0.00357495 s). ×2 + 21.55sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 21.58sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 21.64sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.68sINFOobjective_server_nodeFound path in 0 iterations (5.05e-07 s). ×2 + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821757 ms (missed cycles : 2). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821757 ms (missed cycles : 2).[0m ×2 + 21.78sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 21.82sINFOobjective_server_nodeFound path in 1 iterations (0.0056665 s). ×2 + 21.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________X_________X] ×2 + 22.01sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 22.13sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 22.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 22.19sINFOros2_control_node[2026-09-11 20:57:35.228] [info] Received new action goal ×2 + 22.19sINFOros2_control_node[2026-09-11 20:57:35.228] [info] Accepted new action goal ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273863 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273863 ms (missed cycles : 2).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.266094 ms (missed cycles : 6). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.266094 ms (missed cycles : 6).[0m ×2 + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159293 ms (missed cycles : 5). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159293 ms (missed cycles : 5).[0m ×2 + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287957 ms (missed cycles : 6). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287957 ms (missed cycles : 6).[0m ×2 + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709761 ms (missed cycles : 3). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709761 ms (missed cycles : 3).[0m ×2 + 27.21sINFOros2_control_node[2026-09-11 20:57:40.241] [info] Received new action goal ×2 + 27.21sINFOros2_control_node[2026-09-11 20:57:40.241] [info] Accepted new action goal ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618314 ms (missed cycles : 3). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618314 ms (missed cycles : 3).[0m ×2 + 28.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.90sINFOros2_control_node[2026-09-11 20:57:41.931] [info] Received new action goal ×2 + 28.90sINFOros2_control_node[2026-09-11 20:57:41.931] [info] Accepted new action goal ×2 + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687558 ms (missed cycles : 3). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687558 ms (missed cycles : 3).[0m ×2 + 30.09sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 30.13sINFOros2_control_node[2026-09-11 20:57:43.160] [info] Received new action goal ×2 + 30.13sINFOros2_control_node[2026-09-11 20:57:43.160] [info] Accepted new action goal ×2 + 30.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590736 ms (missed cycles : 4). + 30.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590736 ms (missed cycles : 4).[0m ×2 + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184371 ms (missed cycles : 2). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184371 ms (missed cycles : 2).[0m ×2 + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.285114 ms (missed cycles : 8). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.285114 ms (missed cycles : 8).[0m ×2 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207577 ms (missed cycles : 5). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207577 ms (missed cycles : 5).[0m ×2 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496217 ms (missed cycles : 3). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496217 ms (missed cycles : 3).[0m ×2 + 35.51sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1789160268.54536438 seconds ×3 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902785 ms (missed cycles : 2). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902785 ms (missed cycles : 2).[0m ×2 + 35.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 36.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
+ 36.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 36.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789160269.26897573 seconds. ×3 + 36.50sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 36.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.51sINFOros2_control_node[2026-09-11 20:57:49.543] [info] Received new action goal ×2 + 36.51sINFOros2_control_node[2026-09-11 20:57:49.543] [info] Accepted new action goal ×2 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133185 ms (missed cycles : 2). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133185 ms (missed cycles : 2).[0m ×2 + 37.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.469604 ms (missed cycles : 7). + 37.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.469604 ms (missed cycles : 7).[0m ×2 + 38.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705985 ms (missed cycles : 2). + 38.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705985 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 30.6s | 2952 errors · 108 warnings · 9290 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2011 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1027 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4022 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2054 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015417 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015417 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932037 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932037 ms (missed cycles : 2).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843607 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843607 ms (missed cycles : 2).[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610727 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610727 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789160206.21892309 seconds ×3 + 3.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking With Static Sphere Point Cloud Avoidance"
objective_xml_string: ""
parameter_overrides: []
+ 4.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.37sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking With Static Sphere Point Cloud Avoidance" ×2 + 4.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.37sINFOobjective_server_node ×4 + 4.47sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1789160206.87793589 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.66sINFOros2_control_node[2026-09-11 20:56:47.063] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-09-11 20:56:47.063] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718122 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718122 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421685 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421685 ms (missed cycles : 3).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008119 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008119 ms (missed cycles : 7).[0m ×2 + 7.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.34sINFOros2_control_node[2026-09-11 20:56:49.742] [info] Received new action goal ×2 + 7.34sINFOros2_control_node[2026-09-11 20:56:49.742] [info] Accepted new action goal ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.839859 ms (missed cycles : 8). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.839859 ms (missed cycles : 8).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004923 ms (missed cycles : 2). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004923 ms (missed cycles : 2).[0m ×2 + 9.00sINFOros2_control_node[2026-09-11 20:56:51.405] [info] Received new action goal ×2 + 9.00sINFOros2_control_node[2026-09-11 20:56:51.405] [info] Accepted new action goal ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298003 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298003 ms (missed cycles : 2).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242716 ms (missed cycles : 4). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242716 ms (missed cycles : 4).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855847 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855847 ms (missed cycles : 2).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094471 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094471 ms (missed cycles : 2).[0m ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407493 ms (missed cycles : 3). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407493 ms (missed cycles : 3).[0m ×2 + 14.36sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 14.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 14.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 14.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 14.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 14.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 14.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 14.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.774281 ms (missed cycles : 8). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.774281 ms (missed cycles : 8).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076501 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076501 ms (missed cycles : 2).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043365 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043365 ms (missed cycles : 2).[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525652636368 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525652636368[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485056586717 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485056586717[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003050444231732 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003050444231732[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003353666950746 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003353666950746[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179245885882 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179245885882[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010420257178 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010420257178[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130486694461 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130486694461[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789285612859 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789285612859[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849297491054 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849297491054[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091091714551 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091091714551[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317526472356 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317526472356[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647582562681 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647582562681[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857643888946 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857643888946[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308334300415 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308334300415[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550265378929 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550265378929[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073035091195 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073035091195[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003749184765430 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003749184765430[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539931088588 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539931088588[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412653905472 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412653905472[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239033497926 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239033497926[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860748645888 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860748645888[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612446396438 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612446396438[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458080315605 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458080315605[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368744279733 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368744279733[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195414442302 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195414442302[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841769750242 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841769750242[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147691821795 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147691821795[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004574482118626 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004574482118626[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166439652374 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166439652374[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614024391171 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614024391171[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148163486438 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148163486438[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821525729415 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821525729415[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602304716940 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602304716940[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462345309360 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462345309360[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289642434880 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289642434880[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898049536062 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898049536062[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637930412571 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637930412571[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473823987150 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473823987150[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661134678491 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661134678491[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004847808314539 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004847808314539[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286619171352 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286619171352[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896473553374 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896473553374[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003636932242556 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003636932242556[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003472868737714 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003472868737714[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659881583733 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659881583733[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902345203998 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902345203998[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701678917884 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701678917884[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856762767341 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856762767341[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277304396731 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277304396731[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878371181066 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878371181066[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003615925459768 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003615925459768[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452318938117 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452318938117[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654752072045 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654752072045[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122140246093 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122140246093[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873761933708 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873761933708[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650182705504 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650182705504[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800029935430 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800029935430[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169599883579 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169599883579[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829470405960 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829470405960[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657819690729 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657819690729[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121750014173 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121750014173[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762050319776 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762050319776[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003532298188274 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003532298188274[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692256614273 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692256614273[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132782003806 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132782003806[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375394435002 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375394435002[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003912353988463 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003912353988463[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613472992853 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613472992853[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431498638978 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431498638978[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627275774018 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627275774018[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698331427757 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698331427757[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137665671473 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137665671473[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763747478092 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763747478092[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747993811641 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747993811641[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379341245660 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379341245660[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005388121511897 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005388121511897[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668717930618 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668717930618[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149959750558 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149959750558[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978521709930 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978521709930[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004311198393046 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004311198393046[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859817293558 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859817293558[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004867388807702 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004867388807702[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207572570986 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207572570986[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773135630310 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773135630310[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003502281023617 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003502281023617[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601585750123 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601585750123[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778591660788 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778591660788[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721461 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721461 ms (missed cycles : 2).[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226898830884 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226898830884[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496196886244 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496196886244[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993116131988 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993116131988[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662105556132 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662105556132[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490462327424 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490462327424[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974992125699 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974992125699[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003639889452398 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003639889452398[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002714013296250 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002714013296250[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594583797590 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594583797590[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910375708247 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910375708247[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005694761287507 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005694761287507[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006142962490676 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006142962490676[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005104101153974 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005104101153974[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004370938796278 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004370938796278[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173518742981 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173518742981[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291832568085 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291832568085[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613407570175 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613407570175[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824016893350 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824016893350[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565920643458 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565920643458[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004689145938704 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004689145938704[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086284625623 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086284625623[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004913949845716 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004913949845716[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209167154563 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209167154563[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748425551458 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748425551458[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760414828775 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760414828775[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113230363666 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113230363666[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693403106938 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693403106938[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629816216200 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629816216200[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077523883488 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077523883488[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873317781794 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873317781794[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320977876202 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320977876202[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226090919334 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226090919334[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004471140175968 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004471140175968[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005250183401454 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005250183401454[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428340191238 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428340191238[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003882631292160 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003882631292160[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709400553187 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709400553187[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056498277314 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056498277314[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934084726616 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934084726616[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198930988087 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198930988087[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646196149035 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646196149035[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003798874020 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003798874020[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892609320037 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892609320037[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200693395653 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200693395653[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515794156309 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515794156309[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005343539494921 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005343539494921[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535578334279 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535578334279[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277035376721 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277035376721[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432375772076 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432375772076[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166379688573 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166379688573[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005204695688885 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005204695688885[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354800444625 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354800444625[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801654912548 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801654912548[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754902221351 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754902221351[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077868997060 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077868997060[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004936744562847 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004936744562847[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048659595201 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048659595201[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770506215304 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770506215304[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595203020940 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595203020940[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005353439135436 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005353439135436[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508831028965 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508831028965[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005230735258036 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005230735258036[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381167476017 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381167476017[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003815113569892 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003815113569892[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819370268925 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819370268925[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005643158849558 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005643158849558[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675034032301 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675034032301[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943900272657 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943900272657[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896003141125 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896003141125[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490909176776 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490909176776[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547152053870 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547152053870[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370134065548 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370134065548[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435578561372 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435578561372[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005115860681162 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005115860681162[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258300455779 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258300455779[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080806380108 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080806380108[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223061641572 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223061641572[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965984565012 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965984565012[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157967895884 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157967895884[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933116462869 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933116462869[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145435529672 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145435529672[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004967148985140 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004967148985140[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157823064842 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157823064842[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931195809196 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931195809196[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142911144223 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142911144223[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964127675226 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964127675226[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154425727173 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154425727173[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004926687318376 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004926687318376[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004138322398135 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004138322398135[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959027158369 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959027158369[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149354023719 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149354023719[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920794625566 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920794625566[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002668615985402 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002668615985402[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003112461733784 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003112461733784[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498678390881 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498678390881[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352822845009 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352822845009[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005838521771832 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005838521771832[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006080997778961 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006080997778961[0m ×2 + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672719 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672719 ms (missed cycles : 2).[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006320909828081 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006320909828081[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507600909737 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507600909737[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424441121908 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424441121908[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743058688619 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743058688619[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529042874913 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529042874913[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347319219866 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347319219866[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465141231875 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465141231875[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006444108598648 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006444108598648[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073886126054 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073886126054[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005441776749932 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005441776749932[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884014175319 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884014175319[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660772289482 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660772289482[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151072764504 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151072764504[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470701312685 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470701312685[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388717488724 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388717488724[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982242586702 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982242586702[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005423836908685 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005423836908685[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371637108041 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371637108041[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002504864449526 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002504864449526[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359413805012 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359413805012[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670550179708 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670550179708[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005457971549869 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005457971549869[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005888496150948 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005888496150948[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006087805182429 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006087805182429[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006902049723062 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006902049723062[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378895370236 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378895370236[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005625749332774 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005625749332774[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761248482120 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761248482120[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551021648259 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551021648259[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364176826045 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364176826045[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558433748578 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558433748578[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402809111011 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402809111011[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947773795714 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947773795714[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313713454447 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313713454447[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957872479396 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957872479396[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760728943401 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760728943401[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005278679150399 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005278679150399[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005592242113997 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005592242113997[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765528402734 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765528402734[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893975296576 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893975296576[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657591455082 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657591455082[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127408806664 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127408806664[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005431682823224 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005431682823224[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005668786070782 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005668786070782[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496419407971 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496419407971[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015381111221 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015381111221[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972467858923 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972467858923[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241777735157 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241777735157[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735656202348 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735656202348[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982140858576 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982140858576[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006072142377595 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006072142377595[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006071118034472 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006071118034472[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239382150537 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239382150537[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894774163046 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894774163046[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005314304783186 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005314304783186[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565745820082 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565745820082[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702595470099 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702595470099[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765136555991 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765136555991[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005782394226242 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005782394226242[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005909946024463 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005909946024463[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593029069407 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593029069407[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589423589453 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589423589453[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494598640885 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494598640885[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084664949196 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084664949196[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942041010856 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942041010856[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762861955742 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762861955742[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276844107741 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276844107741[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005575304937909 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005575304937909[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007057423899900 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007057423899900[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006651788673553 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006651788673553[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005068300806619 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005068300806619[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005290907271197 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005290907271197[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437199249947 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437199249947[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528047689463 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528047689463[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005961046845471 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005961046845471[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005849658920137 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005849658920137[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761988829578 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761988829578[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696102708700 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696102708700[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005822718249702 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005822718249702[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727347698107 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727347698107[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914724107569 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914724107569[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166146886568 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166146886568[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354265901459 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354265901459[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095432136499 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095432136499[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005523071146451 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005523071146451[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740933658273 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740933658273[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826028527665 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826028527665[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833015352568 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833015352568[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005798910378693 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005798910378693[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007267872449170 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007267872449170[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006660838949210 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006660838949210[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006218933235549 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006218933235549[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006320132354261 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006320132354261[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037706486979 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037706486979[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005832563265294 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005832563265294[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005689689992908 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005689689992908[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005594483218588 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005594483218588[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006022773368493 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006022773368493[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219361 ms (missed cycles : 4). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219361 ms (missed cycles : 4).[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005800288267087 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005800288267087[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006167430676352 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006167430676352[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034673351732 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034673351732[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135572946283 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135572946283[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007133659074609 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007133659074609[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701418784473 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701418784473[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006337694453693 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006337694453693[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006048929131184 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006048929131184[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006836160213824 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006836160213824[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006319497395583 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006319497395583[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005953492550219 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005953492550219[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705711336051 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705711336051[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002263368051498 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002263368051498[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731099055380 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731099055380[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671831280085 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671831280085[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007505809990439 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007505809990439[0m ×2 + 20.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006949680330070 + 20.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006949680330070[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006486184274117 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006486184274117[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007932593022690 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007932593022690[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007019304369822 + 20.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007019304369822[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006363392556851 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006363392556851[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005913191624921 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005913191624921[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619366915449 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619366915449[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439062250746 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439062250746[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005892781996799 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005892781996799[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722787834473 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722787834473[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005594137841980 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005594137841980[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005500379538062 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005500379538062[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434412012229 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434412012229[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006870908840073 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006870908840073[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006280721137698 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006280721137698[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005870914080332 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005870914080332[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005599165259699 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005599165259699[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428422727572 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428422727572[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006860925888297 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006860925888297[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006216839984440 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006216839984440[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784545587482 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784545587482[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006558562904769 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006558562904769[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005989064139427 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005989064139427[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619640047494 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619640047494[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869025669984 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869025669984[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007394936557215 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007394936557215[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006709170991764 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006709170991764[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006195067044032 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006195067044032[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005825618373032 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005825618373032[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007799171563249 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007799171563249[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006784940127429 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006784940127429[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006090216575773 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006090216575773[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006857987342892 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006857987342892[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006113008847189 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006113008847189[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005631271179336 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005631271179336[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005338700251942 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005338700251942[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176002137366 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176002137366[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745574602098 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745574602098[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004969508023580 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004969508023580[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007425673758615 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007425673758615[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008918512515039 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008918512515039[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007537481672696 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007537481672696[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006562087525427 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006562087525427[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007323892701428 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007323892701428[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375707527943 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375707527943[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005958882945078 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005958882945078[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007788629642549 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007788629642549[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006712250695203 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006712250695203[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005983526358072 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005983526358072[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514727669760 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514727669760[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007424908319160 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007424908319160[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006433578430402 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006433578430402[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777496403085 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777496403085[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007554171303338 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007554171303338[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006481975970132 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006481975970132[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007236156740424 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007236156740424[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006243560062452 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006243560062452[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605365440946 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605365440946[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007400146244358 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007400146244358[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006357860048554 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006357860048554[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007109321188233 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007109321188233[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006144384951308 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006144384951308[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528932940944 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528932940944[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007333440510566 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007333440510566[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007738943687108 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007738943687108[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557564520379 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557564520379[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005782185209480 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005782185209480[0m ×2 + 21.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007467436603076 + 21.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007467436603076[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006366477361076 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006366477361076[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007113060268013 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007113060268013[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006113246266974 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006113246266974[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007636905074150 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007636905074150[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006435987508854 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006435987508854[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007180342309717 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007180342309717[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092984432375 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092984432375[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006740158396876 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006740158396876[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008369628029003 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008369628029003[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009288793395182 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009288793395182[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007592956766359 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007592956766359[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008959871563587 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008959871563587[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006714103261951 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006714103261951[0m ×2 + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816106 ms (missed cycles : 4). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816106 ms (missed cycles : 4).[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675456761172 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675456761172[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005466792579635 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005466792579635[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007500362785472 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007500362785472[0m ×2 + 21.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008713566477175 + 21.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008713566477175[0m ×2 + 21.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010070644876096 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010070644876096[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008077634771606 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008077634771606[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008815162993396 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008815162993396[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007085481218761 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007085481218761[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008063720253037 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008063720253037[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008459254085773 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008459254085773[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789484630300 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789484630300[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007826380615019 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007826380615019[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006368019876023 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006368019876023[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007714254394286 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007714254394286[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006278444481687 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006278444481687[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007485118431786 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007485118431786[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006156889153650 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006156889153650[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007427162066030 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007427162066030[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889125453611 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889125453611[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006452983692402 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006452983692402[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007788881039224 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007788881039224[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008861648362828 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008861648362828[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009403361934166 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009403361934166[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009606909031023 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009606909031023[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009996389509511 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009996389509511[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007767697549307 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007767697549307[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008360285441151 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008360285441151[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008701218257810 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008701218257810[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006798086966991 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006798086966991[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008121494790369 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008121494790369[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006401395764122 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006401395764122[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007397443412566 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007397443412566[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008111711813095 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008111711813095[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006423927161392 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006423927161392[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007428271188733 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007428271188733[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005707662894079 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005707662894079[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007128187913102 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007128187913102[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008025819635206 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008025819635206[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008550456601121 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008550456601121[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008821153021914 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008821153021914[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008927954741991 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008927954741991[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006892219244745 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006892219244745[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008195830060230 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008195830060230[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008434407529245 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008434407529245[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006524443872087 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006524443872087[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007363063005622 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007363063005622[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005538567167117 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005538567167117[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006924239682630 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006924239682630[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007809487578066 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007809487578066[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008334561236332 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008334561236332[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008612098329490 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008612098329490[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008728119428470 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008728119428470[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009424214017244 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009424214017244[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009173492577656 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009173492577656[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008948763891943 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008948763891943[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005920244167129 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005920244167129[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006980782807965 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006980782807965[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007675798578718 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007675798578718[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008102008660150 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008102008660150[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009375903807924 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009375903807924[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009122320331908 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009122320331908[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008890667262180 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008890667262180[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008694026654002 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008694026654002[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008535569865289 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008535569865289[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008412847950751 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008412847950751[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009258871031229 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009258871031229[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008959928540500 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008959928540500[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009515456495109 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009515456495109[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009115744965004 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009115744965004[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008791596754522 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008791596754522[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010041501575563 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010041501575563[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009307935545153 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009307935545153[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008784094463745 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008784094463745[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008425496076865 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008425496076865[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008190928727394 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008190928727394[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008045281172971 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008045281172971[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009284424574121 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009284424574121[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008721031988436 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008721031988436[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008341770388300 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008341770388300[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008098505947941 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008098505947941[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009331009948240 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009331009948240[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008707562654990 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008707562654990[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007413586041228 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007413586041228[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009037499466306 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009037499466306[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009660917497541 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009660917497541[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012741402091887 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012741402091887[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013399210708567 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013399210708567[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011387038050602 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011387038050602[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009899808410783 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009899808410783[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008998924922391 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008998924922391[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008384009714663 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008384009714663[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011471418097291 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011471418097291[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009760219410668 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009760219410668[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008828214820607 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008828214820607[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008207209424593 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008207209424593[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010412389725436 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010412389725436[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009166305183793 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009166305183793[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008339644293490 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008339644293490[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011259934838895 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011259934838895[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009625806787046 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009625806787046[0m ×2 + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485968 ms (missed cycles : 3). + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485968 ms (missed cycles : 3).[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008539458893647 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008539458893647[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006821384792952 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006821384792952[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008402828793651 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008402828793651[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011682735957840 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011682735957840[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013594110689220 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013594110689220[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011198841803706 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011198841803706[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012889782600802 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012889782600802[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013073706184834 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013073706184834[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010576505222498 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010576505222498[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006827972603790 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006827972603790[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008031199099279 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008031199099279[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011206217950283 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011206217950283[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013081223150917 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013081223150917[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014063663502929 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014063663502929[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011166687829476 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011166687829476[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013268946503690 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013268946503690[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010493106700079 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010493106700079[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011951489745194 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011951489745194[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009549025782501 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009549025782501[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011286335845857 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011286335845857[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009112572242887 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009112572242887[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007861548505052 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007861548505052[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010468905624943 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010468905624943[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012084057753230 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012084057753230[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012996403958188 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012996403958188[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010226707123708 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010226707123708[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011614647397717 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011614647397717[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012717611114340 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012717611114340[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009927305892084 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009927305892084[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011314054690216 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011314054690216[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012167657630558 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012167657630558[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012759260761722 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012759260761722[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009841667345329 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009841667345329[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011135722023511 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011135722023511[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011946794725260 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011946794725260[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013030425964904 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013030425964904[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008841176075226 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008841176075226[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007521789371734 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007521789371734[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010000394753493 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010000394753493[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011535826251015 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011535826251015[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012402247128574 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012402247128574[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012816701232914 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012816701232914[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016441444124271 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016441444124271[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012082957087211 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012082957087211[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012249298772602 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012249298772602[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012295903354169 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012295903354169[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012269834925425 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012269834925425[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012203711408407 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012203711408407[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012768325130840 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012768325130840[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012462521787415 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012462521787415[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012218368164184 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012218368164184[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012028453383234 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012028453383234[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013329430849321 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013329430849321[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012860429406005 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012860429406005[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012463689283115 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012463689283115[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012142750370509 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012142750370509[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011891485072207 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011891485072207[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011699230207105 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011699230207105[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013562305632709 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013562305632709[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012686331859126 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012686331859126[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010773302742406 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010773302742406[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011065316859691 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011065316859691[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016879895192488 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016879895192488[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014994814762920 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014994814762920[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014028126519050 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014028126519050[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012939929782411 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012939929782411[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012142865859966 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012142865859966[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011580955134264 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011580955134264[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014895328718410 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014895328718410[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013211619251940 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013211619251940[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012054188239365 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012054188239365[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011295391540027 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011295391540027[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014568559989695 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014568559989695[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012811412228089 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012811412228089[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011642602303565 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011642602303565[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010906542836256 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010906542836256[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015534210549309 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015534210549309[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016475174824144 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016475174824144[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013885645029238 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013885645029238[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012138238975584 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012138238975584[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011020202404976 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011020202404976[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014195370365656 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014195370365656[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012276985333217 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012276985333217[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011042311835132 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011042311835132[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015223476981734 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015223476981734[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016139382653899 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016139382653899[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013430858771191 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013430858771191[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011635756971878 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011635756971878[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015368337366429 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015368337366429[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008188924377467 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008188924377467[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014043318216676 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014043318216676[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017084266459601 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017084266459601[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019375895800487 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019375895800487[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020392671521726 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020392671521726[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021270592387530 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021270592387530[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008409668709601 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008409668709601[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009080038235946 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009080038235946[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012030510197685 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012030510197685[0m ×2 + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737667 ms (missed cycles : 2). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737667 ms (missed cycles : 2).[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016241195487629 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016241195487629[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018549375944775 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018549375944775[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019586022946812 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019586022946812[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024927270983176 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024927270983176[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018533780058823 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018533780058823[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014132013083447 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014132013083447[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015726736890732 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015726736890732[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017262466221710 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017262466221710[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013131712990733 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013131712990733[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014915183189684 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014915183189684[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015998290891468 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015998290891468[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016581068353264 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016581068353264[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017019616230867 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017019616230867[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012759409595652 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012759409595652[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014382674248343 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014382674248343[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018246613937645 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018246613937645[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016320326724669 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016320326724669[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024728088967827 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024728088967827[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017708444595334 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017708444595334[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017079003556104 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017079003556104[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018489292903629 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018489292903629[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017362952984301 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017362952984301[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016490300941870 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016490300941870[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015834565528517 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015834565528517[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017213809727508 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017213809727508[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016182546894796 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016182546894796[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015450793103071 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015450793103071[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014945382309798 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014945382309798[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017437728229579 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017437728229579[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016101655226539 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016101655226539[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015178986438875 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015178986438875[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014563786976661 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014563786976661[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015959502671209 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015959502671209[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022254406207257 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022254406207257[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018952404961258 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018952404961258[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016602320117957 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016602320117957[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018941710998821 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018941710998821[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016404953993336 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016404953993336[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014710068987757 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014710068987757[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020283712590157 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020283712590157[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020389205116157 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020389205116157[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017050169627275 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017050169627275[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014818513144812 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014818513144812[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019872604464712 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019872604464712[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012236032568932 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012236032568932[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019671315923549 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019671315923549[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023087558874155 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023087558874155[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018575548632875 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018575548632875[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021595093144851 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021595093144851[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017108178392234 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017108178392234[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025114310056401 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025114310056401[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019199407355316 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019199407355316[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021018749196828 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021018749196828[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016145191461660 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016145191461660[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018697290519616 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018697290519616[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020151366068203 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020151366068203[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015296194458053 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015296194458053[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018810780707951 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018810780707951[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019802137239171 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019802137239171[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023235540290716 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023235540290716[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017058819073836 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017058819073836[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018255503101879 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018255503101879[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021885587624105 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021885587624105[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021127874854794 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021127874854794[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020303327523406 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020303327523406[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019504852255993 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019504852255993[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022591779885187 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022591779885187[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020613267806585 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020613267806585[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019107263744883 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019107263744883[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017989901646051 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017989901646051[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019585518408595 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019585518408595[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018122828677730 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018122828677730[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017082113523946 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017082113523946[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016354553642403 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016354553642403[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023990255728164 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023990255728164[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020326169594331 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020326169594331[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021120983743881 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021120983743881[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018234575836114 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018234575836114[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016286004282047 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016286004282047[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027257468398193 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027257468398193[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034408832423122 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034408832423122[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022202031325220 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022202031325220[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017789067743238 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017789067743238[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021623140590230 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021623140590230[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017062843692973 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017062843692973[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021214281304087 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021214281304087[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016560700965754 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016560700965754[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019909112238170 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019909112238170[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021712877593008 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021712877593008[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022442043868309 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022442043868309[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016598332019959 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016598332019959[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022980004829918 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022980004829918[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022545387806020 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022545387806020[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028906202877908 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028906202877908[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020173437099672 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020173437099672[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019604897631600 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019604897631600[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018964216884303 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018964216884303[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018308826985021 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018308826985021[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024014535718204 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024014535718204[0m ×2 + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659905 ms (missed cycles : 4). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659905 ms (missed cycles : 4).[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014520895209629 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014520895209629[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034819988047116 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034819988047116[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035518542385235 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035518542385235[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027026516216342 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027026516216342[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020924597825440 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020924597825440[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023319340995700 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023319340995700[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018117493892535 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018117493892535[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021294353785506 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021294353785506[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022672368529857 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022672368529857[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021440931532286 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021440931532286[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024836800903468 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024836800903468[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032393130634310 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032393130634310[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026446604686705 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026446604686705[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029946424780788 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029946424780788[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031363890491339 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031363890491339[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023748120260792 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023748120260792[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025373436278396 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025373436278396[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025108121419906 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025108121419906[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023745198064642 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023745198064642[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031892170017352 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031892170017352[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025201428646783 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025201428646783[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027962855610777 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027962855610777[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017582771178127 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017582771178127[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013534802025294 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013534802025294[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010812731328762 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010812731328762[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009056265793976 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009056265793976[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010710474302353 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010710474302353[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008912628073557 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008912628073557[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007797969810935 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007797969810935[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007134293515839 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007134293515839[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006760959877836 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006760959877836[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007443710773077 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007443710773077[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006953756097336 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006953756097336[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006641913701555 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006641913701555[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006440285685899 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006440285685899[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007019780227279 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007019780227279[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006639318286284 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006639318286284[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006359566463009 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006359566463009[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901007802847 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901007802847[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337853141565 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337853141565[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007816252504447 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007816252504447[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007214253432317 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007214253432317[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006666176696765 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006666176696765[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006192020710289 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006192020710289[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005800181697641 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005800181697641[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007157948262714 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007157948262714[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006301468245875 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006301468245875[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005677544661290 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005677544661290[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005238307874261 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005238307874261[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933071258042 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933071258042[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006583092511777 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006583092511777[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006680848892200 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006680848892200[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493947087619 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493947087619[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006174515872137 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006174515872137[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005460424788773 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005460424788773[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006550649102220 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006550649102220[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005554392407411 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005554392407411[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006083297269299 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006083297269299[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005185262029697 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005185262029697[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062639340670 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062639340670[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833297666773 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833297666773[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709998531282 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709998531282[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835236986274 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835236986274[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005577919705021 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005577919705021[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436592672010 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436592672010[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220527845997 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220527845997[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005997264462954 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005997264462954[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917785823964 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917785823964[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366687029385 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366687029385[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583700759646 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583700759646[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005644409715021 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005644409715021[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005848027133003 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005848027133003[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640038569981 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640038569981[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911790414249 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911790414249[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005041261219141 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005041261219141[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071312232039 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071312232039[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034477707926 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034477707926[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649022914584 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649022914584[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005329031864432 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005329031864432[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005058983382519 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005058983382519[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004832083744057 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004832083744057[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387632895933 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387632895933[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979616596701 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979616596701[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670206372853 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670206372853[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425276530365 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425276530365[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360195615718 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360195615718[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802906086166 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802906086166[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394889555552 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394889555552[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005459910681851 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005459910681851[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644571895869 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644571895869[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773610909503 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773610909503[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005340313500436 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005340313500436[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529652794720 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529652794720[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006185833618503 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006185833618503[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003228684028424 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003228684028424[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002539587794908 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002539587794908[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455787250127 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455787250127[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918890797954 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918890797954[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530021348847 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530021348847[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006170797533029 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006170797533029[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006573191275880 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006573191275880[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342453277160 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342453277160[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005457173211474 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005457173211474[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351798979334 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351798979334[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004913067870952 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004913067870952[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898713233809 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898713233809[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999680530027 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999680530027[0m ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926260 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926260 ms (missed cycles : 2).[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913079211025 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913079211025[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326401931404 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326401931404[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003928440135476 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003928440135476[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531191468447 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531191468447[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150329296998 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150329296998[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657942120182 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657942120182[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289294337305 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289294337305[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500889871166 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500889871166[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001571849414164 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001571849414164[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522592942992 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522592942992[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424113562720 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424113562720[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289588515543 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289588515543[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001154254488438 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001154254488438[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001013681951274 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001013681951274[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257294462876 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257294462876[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014861884750 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014861884750[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000824851550225 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000824851550225[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673216907047 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673216907047[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000780676292747 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000780676292747[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604922521345 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604922521345[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000469644937170 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000469644937170[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369392210895 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369392210895[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000225956438256 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000225956438256[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000171967284655 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000171967284655[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132211814532 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132211814532[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092837772808 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092837772808[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061632931337 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061632931337[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023717178136 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023717178136[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012347924411 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012347924411[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003401049751 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003401049751[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015702294535 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015702294535[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029992096148 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029992096148[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084800612210 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084800612210[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073735522013 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073735522013[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016378171488 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016378171488[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054328647960 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054328647960[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074614553121 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074614553121[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136082624912 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136082624912[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121956783335 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121956783335[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113698990830 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113698990830[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000105890884303 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000105890884303[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066098896461 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066098896461[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080323802770 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080323802770[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088133057839 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088133057839[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092219849903 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092219849903[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093196708694 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093196708694[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092499000157 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092499000157[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000090552615612 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000090552615612[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133587869187 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133587869187[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112234934206 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112234934206[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097116159591 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097116159591[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057150186691 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057150186691[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063301906176 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063301906176[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047343558883 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047343558883[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057489526032 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057489526032[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061990722264 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061990722264[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092362768475 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092362768475[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080122718773 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080122718773[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070561586557 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070561586557[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063019064599 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063019064599[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087569288890 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087569288890[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046547065905 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046547065905[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068950111022 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068950111022[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057937626359 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057937626359[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050258494472 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050258494472[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069379555035 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069379555035[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055651328965 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055651328965[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046270771322 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046270771322[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039974255084 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039974255084[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024306183971 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024306183971[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016850418817 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016850418817[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023717608798 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023717608798[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026776820188 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026776820188[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027504793599 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027504793599[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026912095830 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026912095830[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025663723782 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025663723782[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024156733991 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024156733991[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022619520212 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022619520212[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021162490818 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021162490818[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029677277798 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029677277798[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016492037211 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016492037211[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016170698611 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016170698611[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015742615506 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015742615506[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015192999616 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015192999616[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014580747844 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014580747844[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020687215048 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020687215048[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017353505927 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017353505927[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014890535509 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014890535509[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020040565284 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020040565284[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016014092908 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016014092908[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006336012601 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006336012601[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005888557969 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005888557969[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005849619816 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005849619816[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007217700746 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007217700746[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010855490202 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010855490202[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009720361699 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009720361699[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008664846672 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008664846672[0m ×2 + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357472 ms (missed cycles : 3). + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007753145092 + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357472 ms (missed cycles : 3).[0m ×2 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007753145092[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006995864023 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006995864023[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003365771615 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003365771615[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004256937351 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004256937351[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003552459933 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003552459933[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004171435261 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004171435261[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006245186889 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006245186889[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005570602709 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005570602709[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004973699068 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004973699068[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004468483757 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004468483757[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004053448454 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004053448454[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003714588511 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003714588511[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003436961079 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003436961079[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002252678440 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002252678440[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002476433448 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002476433448[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001893228765 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001893228765[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002183600759 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002183600759[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002301849499 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002301849499[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003316478817 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003316478817[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002871253599 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002871253599[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002507450376 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002507450376[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002222959463 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002222959463[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003020146024 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003020146024[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002453210335 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002453210335[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002046045242 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002046045242[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001761699781 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001761699781[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002398306657 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002398306657[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001921423700 + 26.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001921423700[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000775898993 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000775898993[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000941114811 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000941114811[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001021781650 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001021781650[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001038759889 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001038759889[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001020145403 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001020145403[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000978741978 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000978741978[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000927655854 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000927655854[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000872371933 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000872371933[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000817897452 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000817897452[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001139203893 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001139203893[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000946488983 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000946488983[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000803923221 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000803923221[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000701133353 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000701133353[0m ×2 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000330197059 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000330197059[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000416440998 + 26.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000416440998[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000644831768 + 26.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000644831768[0m ×2 + 26.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000581177728 + 26.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000581177728[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000524136690 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000524136690[0m ×2 + 26.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000474866964 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000474866964[0m ×2 + 26.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000433237817 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000433237817[0m ×2 + 26.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000596845582 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000596845582[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000328402237 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000328402237[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000226513123 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000226513123[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000365430142 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000365430142[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000333048099 + 26.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000333048099[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000304374553 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000304374553[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000197157965 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000197157965[0m ×2 + 26.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000212026972 + 26.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000212026972[0m ×2 + 26.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000216575891 + 26.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000216575891[0m ×2 + 26.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000310978220 + 26.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000310978220[0m ×2 + 26.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000266251748 + 26.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000266251748[0m ×2 + 26.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000231123379 + 26.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000231123379[0m ×2 + 26.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000204522843 + 26.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000204522843[0m ×2 + 26.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000278384540 + 26.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000278384540[0m ×2 + 26.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000225759368 + 26.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000225759368[0m ×2 + 26.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000188215558 + 26.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000188215558[0m ×2 + 26.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162176435 + 26.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162176435[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143791302 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143791302[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000199107031 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000199107031[0m ×2 + 26.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161578855 + 26.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161578855[0m ×2 + 26.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135505140 + 26.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135505140[0m ×2 + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000921273665 + 26.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000921273665[0m ×2 + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161284556 + 26.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161284556[0m ×2 + 27.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000129536828 + 27.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000129536828[0m ×2 + 27.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000831881446 + 27.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000831881446[0m ×2 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000752341709 + 27.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000752341709[0m ×2 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000127211076 + 27.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000127211076[0m ×2 + 27.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000746376663 + 27.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000746376663[0m ×2 + 27.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000669524912 + 27.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000669524912[0m ×2 + 27.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000738656842 + 27.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000738656842[0m ×2 + 27.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000655803996 + 27.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000655803996[0m ×2 + 27.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000318124875 + 27.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000318124875[0m ×2 + 27.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000306724554 + 27.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000306724554[0m ×2 + 27.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000294747695 + 27.11sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000294747695[0m ×2 + 27.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000342489908 + 27.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000342489908[0m ×2 + 27.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000319352681 + 27.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000319352681[0m ×2 + 27.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000298234309 + 27.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000298234309[0m ×2 + 27.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000278712813 + 27.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000278712813[0m ×2 + 27.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000178090219 + 27.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000178090219[0m ×2 + 27.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000123019147 + 27.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000123019147[0m ×2 + 27.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000154946753 + 27.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000154946753[0m ×2 + 27.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000154323729 + 27.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000154323729[0m ×2 + 27.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000152346106 + 27.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000152346106[0m ×2 + 27.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000149234904 + 27.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000149234904[0m ×2 + 27.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000174981266 + 27.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000174981266[0m ×2 + 27.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000164974725 + 27.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000164974725[0m ×2 + 27.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155424599 + 27.25sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155424599[0m ×2 + 27.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000146284346 + 27.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000146284346[0m ×2 + 27.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000166819690 + 27.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000166819690[0m ×2 + 27.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000153300693 + 27.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000153300693[0m ×2 + 27.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000141123626 + 27.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000141123626[0m ×2 + 27.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000130105072 + 27.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000130105072[0m ×2 + 27.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000146319641 + 27.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000146319641[0m ×2 + 27.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000132549665 + 27.30sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000132549665[0m ×2 + 27.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000120434936 + 27.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000120434936[0m ×2 + 27.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987204 ms (missed cycles : 2). + 27.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987204 ms (missed cycles : 2).[0m ×2 + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892623 ms (missed cycles : 2). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892623 ms (missed cycles : 2).[0m ×2 + 29.29sINFOros2_control_nodeMuJoCo sim: 3.41% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747747 ms (missed cycles : 2). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747747 ms (missed cycles : 2).[0m ×2 + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118397 ms (missed cycles : 2). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118397 ms (missed cycles : 2).[0m ×2 + 31.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225577 ms (missed cycles : 2). + 31.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225577 ms (missed cycles : 2).[0m ×2 + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537518 ms (missed cycles : 2). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537518 ms (missed cycles : 2).[0m ×2 + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844313 ms (missed cycles : 2). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844313 ms (missed cycles : 2).[0m ×2 + 34.44sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1789160236.84337163 seconds ×3 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881285 ms (missed cycles : 2). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881285 ms (missed cycles : 2).[0m ×2 + 35.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick 1 Pill Bottle with SAM3"
objective_xml_string: ""
parameter_overrides: []
+ 35.00sINFOobjective_server_nodeobjective_name: "Pick 1 Pill Bottle with SAM3" ×2 + 35.11sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1789160237.51385784 seconds. ×3 + 35.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 35.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 35.35sINFOobjective_server_nodeFound path in 5 iterations (0.00643372 s). ×2 + 35.40sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 35.42sINFOros2_control_node[2026-09-11 20:57:17.820] [info] Received new action goal ×2 + 35.42sINFOros2_control_node[2026-09-11 20:57:17.820] [info] Accepted new action goal ×2 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525251 ms (missed cycles : 2). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525251 ms (missed cycles : 2).[0m ×2 + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144821 ms (missed cycles : 4). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144821 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 3618 errors · 87 warnings · 7497 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1826 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001746321606169 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×3652 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001746321606169[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777272962904 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777272962904[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536087158533 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536087158533[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379634195755 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379634195755[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284896578662 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284896578662[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233451283166 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233451283166[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781565740063 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781565740063[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084984520332 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084984520332[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789198208057 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789198208057[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002215730649561 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002215730649561[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001874194144034 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001874194144034[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633601760228 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633601760228[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055973208224 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055973208224[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001728884304871 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001728884304871[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515238951571 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515238951571[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384550485926 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384550485926[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899043530743 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899043530743[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633974663594 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633974663594[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001491746085138 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001491746085138[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996069063147 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996069063147[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001716081670729 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001716081670729[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001921490545541 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001921490545541[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659309923944 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659309923944[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001493062093767 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001493062093767[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001993018670041 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001993018670041[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164055644114 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164055644114[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337304814286 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337304814286[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002043470371292 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002043470371292[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463392005502 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463392005502[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690818029708 ×2 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690818029708[0m ×4 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186776577696 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186776577696[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381216 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381216 ms (missed cycles : 3).[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789634797247 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789634797247[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354038890659 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354038890659[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019923807987 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019923807987[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430117614062 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430117614062[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047410961086 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047410961086[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404544721644 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404544721644[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997772419277 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997772419277[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001730735187706 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001730735187706[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188693054857 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188693054857[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856920020339 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856920020339[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001646780033071 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001646780033071[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148717302603 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148717302603[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843324129444 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843324129444[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278351510542 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278351510542[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001869892202490 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001869892202490[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321873646670 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321873646670[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001970290714649 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001970290714649[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001742099516039 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001742099516039[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238115875935 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238115875935[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917572152999 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917572152999[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350314777807 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350314777807[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001984468780603 ×2 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001984468780603[0m ×4 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001750311944398 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001750311944398[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002250985723700 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002250985723700[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001930146610741 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001930146610741[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002369860759706 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002369860759706[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004143208755 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004143208755[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284306284782 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284306284782[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091965568893 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091965568893[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002591017515881 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002591017515881[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877612279768 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877612279768[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373435068331 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373435068331[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682044307235 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682044307235[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907597984616 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907597984616[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350812698995 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350812698995[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639110616447 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639110616447[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002162822146688 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002162822146688[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002517012250688 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002517012250688[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002087989021708 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002087989021708[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478208272919 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478208272919[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994974255203 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994974255203[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002462522627629 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002462522627629[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002759052021796 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002759052021796[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272264448731 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272264448731[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621359559375 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621359559375[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176327042604 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176327042604[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560511346726 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560511346726[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685282872286 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685282872286[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284487420241 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284487420241[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516309825283 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516309825283[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311466191522 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311466191522[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002156139883726 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002156139883726[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673376212149 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673376212149[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976506075175 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976506075175[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137741255933 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137741255933[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003209914293412 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003209914293412[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553298621106 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553298621106[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801639313234 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801639313234[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280896258075 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280896258075[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632316620656 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632316620656[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863456862012 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863456862012[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002327356468025 ×2 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002327356468025[0m ×4 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670474643989 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670474643989[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002212735099006 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002212735099006[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002611225834477 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002611225834477[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002872548186184 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002872548186184[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001541110866576 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001541110866576[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200004349130 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200004349130[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009795857466 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009795857466[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458646110361 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458646110361[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788043074361 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788043074361[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997270876393 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997270876393[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002254981592279 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002254981592279[0m ×2 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013632559418 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013632559418[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001979746195231 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001979746195231[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580476057793 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580476057793[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952480502714 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952480502714[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828496833514 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828496833514[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001651853120419 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001651853120419[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969573252599 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969573252599[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639981681989 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639981681989[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040913543887 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040913543887[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260632824543 + 1.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260632824543[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085920160065 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085920160065[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879646758558 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879646758558[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699336002573 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699336002573[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852309201726 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852309201726[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005744334656 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005744334656[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109860902839 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109860902839[0m ×2 + 1.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003178355057597 ×2 + 1.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003178355057597[0m ×4 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222060211886 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222060211886[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.876138 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.876138 ms (missed cycles : 6).[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544368056969 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544368056969[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624587317698 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624587317698[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886637807432 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886637807432[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040805688264 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040805688264[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687570541613 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687570541613[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079306535300 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079306535300[0m ×2 + 1.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297863405990 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297863405990[0m ×2 + 1.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001857027916388 + 1.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001857027916388[0m ×2 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476110182770 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476110182770[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003314073638868 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003314073638868[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402696165808 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402696165808[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433442860818 + 1.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433442860818[0m ×2 + 1.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432181907981 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432181907981[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415697790322 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415697790322[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394230840551 + 1.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394230840551[0m ×2 + 1.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373512660701 ×2 + 1.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373512660701[0m ×4 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356317914256 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356317914256[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788571279061 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788571279061[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460400073295 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460400073295[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897979034361 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897979034361[0m ×2 + 1.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742407633513 + 1.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742407633513[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695223658904 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695223658904[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629452785756 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629452785756[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561994992155 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561994992155[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501774948966 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501774948966[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452579003527 ×2 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452579003527[0m ×4 + 1.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001505561030010 ×2 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001505561030010[0m ×4 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347492373850 + 1.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347492373850[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885141138890 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885141138890[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207565412342 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207565412342[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485536552526 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485536552526[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204083209187 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204083209187[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763884804282 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763884804282[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003110912652807 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003110912652807[0m ×2 + 1.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311107824820 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311107824820[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004748687794031 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004748687794031[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291971994630 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291971994630[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953227659374 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953227659374[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003713270464522 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003713270464522[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799091128548 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799091128548[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647020696987 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647020696987[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816752471882 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816752471882[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678642184852 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678642184852[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574445329992 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574445329992[0m ×2 + 2.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499293177687 + 2.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499293177687[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447495908581 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447495908581[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413541620322 ×2 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413541620322[0m ×4 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392604236225 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392604236225[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380738152587 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380738152587[0m ×2 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374886374180 + 2.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374886374180[0m ×2 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372789230591 + 2.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372789230591[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372850342605 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372850342605[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373994492404 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373994492404[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375536482675 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375536482675[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004231600856931 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004231600856931[0m ×2 + 2.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043278877891 + 2.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043278877891[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003298695929096 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003298695929096[0m ×2 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750283136300 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750283136300[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298396725226 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298396725226[0m ×2 + 2.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964554696127 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964554696127[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728205981607 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728205981607[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568120157337 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568120157337[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004807250854729 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004807250854729[0m ×2 + 2.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241379108989 + 2.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241379108989[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856790413259 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856790413259[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003607762771363 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003607762771363[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723627845240 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723627845240[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932699054895 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932699054895[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337954318579 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337954318579[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927649946461 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927649946461[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075016692820 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075016692820[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841305326463 ×2 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841305326463[0m ×4 + 2.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993074293486 + 2.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993074293486[0m ×2 + 2.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949418410065 + 2.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949418410065[0m ×2 + 2.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202905471155 + 2.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202905471155[0m ×2 + 2.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754909925958 + 2.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754909925958[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005688879310323 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005688879310323[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863939468527 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863939468527[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609069625055 + 2.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609069625055[0m ×2 + 2.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698164459350 ×2 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698164459350[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952991 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952991 ms (missed cycles : 2).[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788922595864 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788922595864[0m ×2 + 2.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609816622322 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609816622322[0m ×2 + 2.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952710526524 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952710526524[0m ×2 + 2.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754954136804 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754954136804[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856970197737 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856970197737[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558891111951 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558891111951[0m ×2 + 2.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633052950004 + 2.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633052950004[0m ×2 + 2.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005344766678234 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005344766678234[0m ×2 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449935149760 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449935149760[0m ×2 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867115577197 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867115577197[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657267724264 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657267724264[0m ×2 + 2.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794549619410 + 2.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794549619410[0m ×2 + 2.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005508059675351 + 2.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005508059675351[0m ×2 + 2.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034472914462 + 2.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034472914462[0m ×2 + 2.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340994027512 + 2.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340994027512[0m ×2 + 2.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189656883617 + 2.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189656883617[0m ×2 + 2.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385265413855 + 2.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385265413855[0m ×2 + 2.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176130015058 + 2.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176130015058[0m ×2 + 2.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344411669786 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344411669786[0m ×2 + 2.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123127759534 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123127759534[0m ×2 + 2.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292035956957 + 2.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292035956957[0m ×2 + 2.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133636441999 + 2.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133636441999[0m ×2 + 2.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280095934319 + 2.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280095934319[0m ×2 + 2.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634313290451 + 2.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634313290451[0m ×2 + 2.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274639403840 + 2.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274639403840[0m ×2 + 2.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292126775817 + 2.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292126775817[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005875465320626 + 2.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005875465320626[0m ×2 + 2.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006170029163602 + 2.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006170029163602[0m ×2 + 2.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282863742469 + 2.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282863742469[0m ×2 + 2.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981214058211 + 2.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981214058211[0m ×2 + 2.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426538197570 + 2.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426538197570[0m ×2 + 2.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392924350008 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392924350008[0m ×2 + 2.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005038780348113 ×2 + 2.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005038780348113[0m ×4 + 2.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005456015717245 + 2.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005456015717245[0m ×2 + 2.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873266941016 + 2.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873266941016[0m ×2 + 2.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249600999934 + 2.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249600999934[0m ×2 + 2.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203706652921 + 2.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203706652921[0m ×2 + 2.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002417115350073 + 2.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002417115350073[0m ×2 + 2.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134248334041 + 2.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134248334041[0m ×2 + 2.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194418591309 + 2.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194418591309[0m ×2 + 2.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797428659399 + 2.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797428659399[0m ×2 + 2.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003276084957863 + 2.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003276084957863[0m ×2 + 2.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453421498314 + 2.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453421498314[0m ×2 + 2.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005195949881748 + 2.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005195949881748[0m ×2 + 2.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113855773460 + 2.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113855773460[0m ×2 + 3.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999681148245 ×2 + 3.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999681148245[0m ×4 + 3.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002951839868191 + 3.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002951839868191[0m ×2 + 3.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771960412955 + 3.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771960412955[0m ×2 + 3.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932176829662 + 3.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932176829662[0m ×2 + 3.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604015408627 + 3.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604015408627[0m ×2 + 3.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005948725991042 + 3.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005948725991042[0m ×2 + 3.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006085885991772 + 3.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006085885991772[0m ×2 + 3.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100339528419 + 3.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100339528419[0m ×2 + 3.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049561125116 + 3.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049561125116[0m ×2 + 3.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200260700111 + 3.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200260700111[0m ×2 + 3.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001396443225568 ×2 + 3.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001396443225568[0m ×4 + 3.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330830130470 + 3.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330830130470[0m ×2 + 3.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533260717483 + 3.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533260717483[0m ×2 + 3.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003120201008 + 3.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003120201008[0m ×2 + 3.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170042466984 + 3.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170042466984[0m ×2 + 3.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762780479626 + 3.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762780479626[0m ×2 + 3.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777928031475 + 3.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777928031475[0m ×2 + 3.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381490804668 ×2 + 3.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381490804668[0m ×4 + 3.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958111667472 + 3.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958111667472[0m ×2 + 3.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143347455348 + 3.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143347455348[0m ×2 + 3.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901810766282 + 3.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901810766282[0m ×2 + 3.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618877935664 + 3.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618877935664[0m ×2 + 3.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578601151511 + 3.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578601151511[0m ×2 + 3.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843203401352 + 3.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843203401352[0m ×2 + 3.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577028090757 + 3.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577028090757[0m ×2 + 3.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000760757130565 + 3.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000760757130565[0m ×2 + 3.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000265897396382 + 3.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000265897396382[0m ×2 + 3.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186234036641 + 3.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186234036641[0m ×2 + 3.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080793563140 + 3.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080793563140[0m ×2 + 3.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049770488639 ×2 + 3.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049770488639[0m ×4 + 3.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025434399655 + 3.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025434399655[0m ×2 + 3.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007799950659 + 3.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007799950659[0m ×2 + 3.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003957578654 + 3.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003957578654[0m ×2 + 3.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010997108890 + 3.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010997108890[0m ×2 + 3.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014512058965 + 3.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014512058965[0m ×2 + 3.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015571132877 ×2 + 3.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015571132877[0m ×4 + 3.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015050139187 + 3.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015050139187[0m ×2 + 3.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013618917988 + 3.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013618917988[0m ×2 + 3.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011758474498 + 3.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011758474498[0m ×2 + 3.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009791931983 + 3.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009791931983[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285457 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285457 ms (missed cycles : 4).[0m ×2 + 3.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007919185336 + 3.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007919185336[0m ×2 + 3.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002738774086 + 3.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002738774086[0m ×2 + 3.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001474187112 + 3.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001474187112[0m ×2 + 3.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001067875997 + 3.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001067875997[0m ×2 + 3.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000770384150 + 3.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000770384150[0m ×2 + 3.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000555670878 + 3.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000555670878[0m ×2 + 3.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000402489672 + 3.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000402489672[0m ×2 + 3.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000294108306 + 3.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000294108306[0m ×2 + 3.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000217742915 ×2 + 3.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000217742915[0m ×4 + 3.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163886134 + 3.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163886134[0m ×2 + 3.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000125639629 + 3.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000125639629[0m ×2 + 3.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003580879946 + 3.65sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003580879946[0m ×2 + 3.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002852017214 ×2 + 3.66sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002852017214[0m ×4 + 3.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002271391323 + 3.70sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002271391323[0m ×2 + 3.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001147182675 + 3.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001147182675[0m ×2 + 3.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000913563105 + 3.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000913563105[0m ×2 + 3.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000727526957 + 3.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000727526957[0m ×2 + 3.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000579386255 + 3.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000579386255[0m ×2 + 3.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000461422783 + 3.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000461422783[0m ×2 + 3.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000367488672 + 3.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000367488672[0m ×2 + 3.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000292687686 ×2 + 3.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000292687686[0m ×4 + 3.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000233120912 + 3.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000233120912[0m ×2 + 3.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000185683944 + 3.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000185683944[0m ×2 + 3.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000147905124 + 3.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000147905124[0m ×2 + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789160184.03474331 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
+ 4.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.38sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 4.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.38sINFOobjective_server_node ×4 + 4.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789160184.70304847 seconds. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120090 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120090 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-09-11 20:56:24.867] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-11 20:56:24.867] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491452 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491452 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.147790 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.147790 ms (missed cycles : 5).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736444 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736444 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679200 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679200 ms (missed cycles : 2).[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000346215858432 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000346215858432[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000842527598604 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000842527598604[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001119218270007 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001119218270007[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249748388039 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249748388039[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001288840968866 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001288840968866[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477239547069 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477239547069[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001385956535215 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001385956535215[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000564938397167 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000564938397167[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464309676024 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464309676024[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000804879505293 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000804879505293[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001006270475237 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001006270475237[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001113338840069 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001113338840069[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001158273882524 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001158273882524[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001166926991505 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001166926991505[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001524050961042 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001524050961042[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001366505049590 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001366505049590[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246913631203 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246913631203[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161182447436 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161182447436[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001103343615134 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001103343615134[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001067510518531 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001067510518531[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001047929463202 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001047929463202[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001079196234807 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001079196234807[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001058387311157 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001058387311157[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436892536976 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436892536976[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000756140520602 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000756140520602[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000960995447589 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000960995447589[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084770541915 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084770541915[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001153036240450 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001153036240450[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001185490417594 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001185490417594[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558843197262 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558843197262[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001418497530428 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001418497530428[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001314104076857 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001314104076857[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001241187839477 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001241187839477[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509524947030 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509524947030[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000824286028463 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000824286028463[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001027578798251 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001027578798251[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001150828720604 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001150828720604[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001219841076527 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001219841076527[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001253545631522 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001253545631522[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000840274827192 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000840274827192[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031375483722 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031375483722[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001759334233076 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001759334233076[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001587753329680 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001587753329680[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459939609977 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459939609977[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369870017259 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369870017259[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001431999363090 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001431999363090[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474869446203 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474869446203[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001493160481932 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001493160481932[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530700523013 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530700523013[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001445979379674 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001445979379674[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384762458625 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384762458625[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000615666280610 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000615666280610[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000943014299854 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000943014299854[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001154667565840 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001154667565840[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001915122232982 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001915122232982[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933866253154 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933866253154[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748089997956 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748089997956[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2).[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606894611742 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606894611742[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001505234662633 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001505234662633[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001436024130595 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001436024130595[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392435229956 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392435229956[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367702815728 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367702815728[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001589720844133 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001589720844133[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490651888857 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490651888857[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001428093700597 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001428093700597[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001559968864801 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001559968864801[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654817063180 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654817063180[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712939959364 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712939959364[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748826422039 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748826422039[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647431358127 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647431358127[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001572155059423 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001572155059423[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001519360750193 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001519360750193[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001485123774111 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001485123774111[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001464952825827 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001464952825827[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455057574427 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455057574427[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001452580259043 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001452580259043[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454593517699 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454593517699[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459576513381 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459576513381[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001466268424770 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001466268424770[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670520902948 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670520902948[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001629100021173 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001629100021173[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595444177615 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595444177615[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001570473015794 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001570473015794[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001553467932091 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001553467932091[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543175315739 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543175315739[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001978284061073 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001978284061073[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001804006141272 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001804006141272[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000635840558233 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000635840558233[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000742288537613 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000742288537613[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001193453121296 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001193453121296[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001466713597316 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001466713597316[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001618509180667 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001618509180667[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002384785572576 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002384785572576[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002141373291337 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002141373291337[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000936673865789 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000936673865789[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000929295017280 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000929295017280[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001270255286791 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001270255286791[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186959440187 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186959440187[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745229670913 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745229670913[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002351924327268 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002351924327268[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070643810607 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070643810607[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001879427651450 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001879427651450[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755966143207 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755966143207[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001681439333426 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001681439333426[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641536158459 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641536158459[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001818372552725 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001818372552725[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771036057563 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771036057563[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736376224140 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736376224140[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002432644539684 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002432644539684[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002139851309471 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002139851309471[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939413345603 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939413345603[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001808888013702 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001808888013702[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001729751156902 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001729751156902[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685909694805 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685909694805[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001665339166173 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001665339166173[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659233478961 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659233478961[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002123456504935 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002123456504935[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002030246152847 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002030246152847[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019706530100 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019706530100[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035033315230 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035033315230[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002171621338911 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002171621338911[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013659131283 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013659131283[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899478183575 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899478183575[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002552275405589 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002552275405589[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218940546614 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218940546614[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001992804473628 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001992804473628[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001847102219209 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001847102219209[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001759095724571 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001759095724571[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002443719361343 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002443719361343[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002139034259686 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002139034259686[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002276080245742 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002276080245742[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021920151020 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021920151020[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859641350236 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859641350236[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584084790422 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584084790422[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410168867083 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410168867083[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002181277656394 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002181277656394[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747371926743 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747371926743[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348125288866 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348125288866[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075065817227 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075065817227[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001897303936465 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001897303936465[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001429984233061 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001429984233061[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002356276309498 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002356276309498[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924611 ms (missed cycles : 5). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924611 ms (missed cycles : 5).[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917734511762 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917734511762[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002396705379943 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002396705379943[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869889573677 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869889573677[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943826156569 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943826156569[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002456801656138 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002456801656138[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126613998357 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126613998357[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001913841831235 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001913841831235[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515234041290 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515234041290[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002163997302467 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002163997302467[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001936767775531 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001936767775531[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527222837763 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527222837763[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170502607231 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170502607231[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421856817061 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421856817061[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002094936684172 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002094936684172[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001888124956270 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001888124956270[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002492676918913 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002492676918913[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148847279298 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148847279298[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001927338121314 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001927338121314[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002518309316196 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002518309316196[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002165939453032 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002165939453032[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001938020916097 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001938020916097[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002399869432871 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002399869432871[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002084208512718 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002084208512718[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884124378224 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884124378224[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351113249149 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351113249149[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002325695387541 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002325695387541[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002912040800851 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002912040800851[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233877417090 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233877417090[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002665502095294 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002665502095294[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368609299334 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368609299334[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001909012941753 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001909012941753[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002638776804364 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002638776804364[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062968142273 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062968142273[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519307838120 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519307838120[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877023481573 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877023481573[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003296879977729 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003296879977729[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784820079951 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784820079951[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315365611939 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315365611939[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002770431187556 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002770431187556[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069217775129 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069217775129[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002593478550139 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002593478550139[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153145555229 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153145555229[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636553979093 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636553979093[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171071119361 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171071119361[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639435363397 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639435363397[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001636635432551 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001636635432551[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002219484194748 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002219484194748[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097540999064 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097540999064[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003614668037152 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003614668037152[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888847992748 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888847992748[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007965566541 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007965566541[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167417311581 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167417311581[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476949991217 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476949991217[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003564689067806 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003564689067806[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848279028778 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848279028778[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003258274250243 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003258274250243[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652267136741 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652267136741[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003141642958602 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003141642958602[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589909161199 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589909161199[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114600229102 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114600229102[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001938208193849 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001938208193849[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825196128654 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825196128654[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379080237189 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379080237189[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003721841135990 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003721841135990[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897462746685 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897462746685[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003100077295927 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003100077295927[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003441217651540 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003441217651540[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780087023053 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780087023053[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003227277082218 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003227277082218[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512528554610 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512528554610[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815534304281 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815534304281[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347392315934 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347392315934[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003013765783844 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003013765783844[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003435700687594 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003435700687594[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684983573547 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684983573547[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950681154957 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950681154957[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341140424727 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341140424727[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560438935349 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560438935349[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135180526602 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135180526602[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496642609663 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496642609663[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708242120538 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708242120538[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819319708202 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819319708202[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003000118955055 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003000118955055[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341083963736 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341083963736[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003559968635188 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003559968635188[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599414601129 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599414601129[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003134515537600 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003134515537600[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747146 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747146 ms (missed cycles : 2).[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476342670588 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476342670588[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002012682500675 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002012682500675[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002857893513884 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002857893513884[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388911751183 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388911751183[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409265294183 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409265294183[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329148116151 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329148116151[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220566268078 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220566268078[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109590119931 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109590119931[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145509319789 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145509319789[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393875361587 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393875361587[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003559339911819 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003559339911819[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664044525791 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664044525791[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726067098952 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726067098952[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759417983657 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759417983657[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615744674843 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615744674843[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811879023716 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811879023716[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754644039033 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754644039033[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347385875488 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347385875488[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693749702440 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693749702440[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874611675380 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874611675380[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950166902790 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950166902790[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963253669381 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963253669381[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942973959354 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942973959354[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908080520795 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908080520795[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869875721207 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869875721207[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644528659297 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644528659297[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709737476759 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709737476759[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414432053719 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414432053719[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186773093951 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186773093951[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347550472642 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347550472642[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118697625566 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118697625566[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958369055726 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958369055726[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001923400597027 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001923400597027[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001754883186585 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001754883186585[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002227205169981 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002227205169981[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079336123786 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079336123786[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586379201720 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586379201720[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859147345464 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859147345464[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566034788638 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566034788638[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992018108456 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992018108456[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192609294799 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192609294799[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152559797615 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152559797615[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918259676957 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918259676957[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003399400875733 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003399400875733[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005261715101054 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005261715101054[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805202178806 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805202178806[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391094052844 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391094052844[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037325423683 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037325423683[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785912962484 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785912962484[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003622952923930 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003622952923930[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003525925227451 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003525925227451[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474169995975 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474169995975[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843511618895 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843511618895[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221594591685 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221594591685[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586728581208 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586728581208[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141450089143 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141450089143[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843217444174 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843217444174[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653894870242 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653894870242[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541743481610 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541743481610[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481794505992 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481794505992[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420962991873 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420962991873[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037676898219 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037676898219[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783231929844 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783231929844[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623245716337 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623245716337[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999707089229 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999707089229[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003027226886919 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003027226886919[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803868083937 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803868083937[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005890806792837 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005890806792837[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034209512680 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034209512680[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005540978199295 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005540978199295[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736898144447 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736898144447[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185477617909 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185477617909[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003825530320107 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003825530320107[0m ×2 + 12.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005070115627691 + 12.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005070115627691[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388214930363 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388214930363[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939268652908 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939268652908[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005124183278398 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005124183278398[0m ×2 + 12.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407152112536 + 12.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407152112536[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938137510212 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938137510212[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111003207406 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111003207406[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313949150771 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313949150771[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386691113268 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386691113268[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569779760174 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569779760174[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025276378083 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025276378083[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946897438220 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946897438220[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253953962212 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253953962212[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252254981634 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252254981634[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.280462 ms (missed cycles : 5). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.280462 ms (missed cycles : 5).[0m ×2 + 12.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436806084085 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436806084085[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795891441016 + 12.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795891441016[0m ×2 + 12.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593092438809 + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593092438809[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005700076370389 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005700076370389[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006327430093398 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006327430093398[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808126374688 + 12.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808126374688[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633543893509 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633543893509[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006549122903421 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006549122903421[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254488668199 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254488668199[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005816919326404 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005816919326404[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004716402145973 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004716402145973[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005436630085529 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005436630085529[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461489771761 + 12.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461489771761[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272395576047 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272395576047[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363842919735 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363842919735[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005217115804228 + 12.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005217115804228[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709286001119 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709286001119[0m ×2 + 12.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642772927684 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642772927684[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005380087492028 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005380087492028[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424304393549 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424304393549[0m ×2 + 12.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134252160807 + 12.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134252160807[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005579907684623 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005579907684623[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484001483667 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484001483667[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149907682343 + 12.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149907682343[0m ×2 + 12.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005579612357703 + 12.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005579612357703[0m ×2 + 12.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005717290997970 + 12.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005717290997970[0m ×2 + 12.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563839774717 + 12.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563839774717[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752537585179 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752537585179[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002613557795505 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002613557795505[0m ×2 + 12.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335394096833 + 12.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335394096833[0m ×2 + 12.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005391622266441 + 12.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005391622266441[0m ×2 + 12.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445203008318 + 12.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445203008318[0m ×2 + 13.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221881482269 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221881482269[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085316414300 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085316414300[0m ×2 + 13.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004611234371123 + 13.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004611234371123[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527073772682 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527073772682[0m ×2 + 13.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006025262862197 + 13.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006025262862197[0m ×2 + 13.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006251619427431 + 13.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006251619427431[0m ×2 + 13.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007836382111981 + 13.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007836382111981[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007292214876334 + 13.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007292214876334[0m ×2 + 13.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006838300165012 + 13.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006838300165012[0m ×2 + 13.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006480934786610 + 13.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006480934786610[0m ×2 + 13.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006212830429296 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006212830429296[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006020298798999 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006020298798999[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887752603856 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887752603856[0m ×2 + 13.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347154909639 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347154909639[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084214614417 + 13.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084214614417[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918033877185 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918033877185[0m ×2 + 13.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437123614984 + 13.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437123614984[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165832017776 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165832017776[0m ×2 + 13.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220493189565 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220493189565[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807302195311 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807302195311[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006011454856951 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006011454856951[0m ×2 + 13.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007516729185776 + 13.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007516729185776[0m ×2 + 13.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009329654213748 + 13.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009329654213748[0m ×2 + 13.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007978508497823 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007978508497823[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006995239580621 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006995239580621[0m ×2 + 13.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006310703545985 + 13.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006310703545985[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005856275070733 + 13.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005856275070733[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570897577948 + 13.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570897577948[0m ×2 + 13.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007055556347634 + 13.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007055556347634[0m ×2 + 13.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006320913047658 + 13.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006320913047658[0m ×2 + 13.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031995809761 + 13.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031995809761[0m ×2 + 13.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007577805959540 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007577805959540[0m ×2 + 13.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006824011158532 + 13.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006824011158532[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006267105008511 + 13.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006267105008511[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871634811617 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871634811617[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007331875645671 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007331875645671[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006502146213580 + 13.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006502146213580[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005935132176248 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005935132176248[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537991241565 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537991241565[0m ×2 + 13.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007533291167220 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007533291167220[0m ×2 + 13.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006532236713593 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006532236713593[0m ×2 + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004867097669525 + 13.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004867097669525[0m ×2 + 13.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007260738775676 + 13.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007260738775676[0m ×2 + 13.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008715796445112 + 13.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008715796445112[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009127402131174 + 13.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009127402131174[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007570101807222 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007570101807222[0m ×2 + 13.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006482221668098 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006482221668098[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728470004095 + 13.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728470004095[0m ×2 + 13.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007070829904165 + 13.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007070829904165[0m ×2 + 13.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008493549287424 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008493549287424[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009274721435645 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009274721435645[0m ×2 + 13.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007484322816535 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007484322816535[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008403260561447 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008403260561447[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789444634405 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789444634405[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007852084749467 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007852084749467[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140311 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140311 ms (missed cycles : 2).[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006022377616118 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006022377616118[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007406006469721 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007406006469721[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008246059557083 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008246059557083[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006139193769413 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006139193769413[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007393306130907 + 13.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007393306130907[0m ×2 + 13.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008147542551607 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008147542551607[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008552098660138 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008552098660138[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008723060474326 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008723060474326[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008746617288497 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008746617288497[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006699069764365 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006699069764365[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007365465629052 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007365465629052[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007779935697727 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007779935697727[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008011273912181 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008011273912181[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008682181301948 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008682181301948[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008524523273522 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008524523273522[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008361836253294 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008361836253294[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009058796141442 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009058796141442[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221937354362 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221937354362[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876599123193 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876599123193[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043518446247 + 13.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043518446247[0m ×2 + 13.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007228734507797 + 13.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007228734507797[0m ×2 + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011186837281899 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011186837281899[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010089552450801 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010089552450801[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009200878178127 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009200878178127[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008512183296641 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008512183296641[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007997622174438 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007997622174438[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010903359338406 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010903359338406[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007191773547665 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007191773547665[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007790067769590 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007790067769590[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010756641456119 + 13.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010756641456119[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009301987380089 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009301987380089[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011388515672941 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011388515672941[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009434883035516 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009434883035516[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008096604011666 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008096604011666[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006032407433682 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006032407433682[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007311463689962 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007311463689962[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007830258411148 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007830258411148[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010377749152155 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010377749152155[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011776866314412 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011776866314412[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012402430061911 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012402430061911[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012536141472425 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012536141472425[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009592212637154 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009592212637154[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387932709475 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387932709475[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212981410780 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212981410780[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008331238550981 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008331238550981[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010146504105747 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010146504105747[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011061793655467 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011061793655467[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016174430611546 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016174430611546[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014010142529734 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014010142529734[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012465159079632 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012465159079632[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011273916487815 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011273916487815[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010385052097290 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010385052097290[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010554915491157 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010554915491157[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014184489406752 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014184489406752[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011971649283190 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011971649283190[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010394290613367 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010394290613367[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009309937347760 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009309937347760[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012584110678430 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012584110678430[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010518884292574 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010518884292574[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012980568751655 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012980568751655[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010587788570570 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010587788570570[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012749909527403 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012749909527403[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010214711752379 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010214711752379[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012165114993285 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012165114993285[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013198579647901 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013198579647901[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682328751808 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682328751808[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016033231492234 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016033231492234[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015305817749304 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015305817749304[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014421411525765 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014421411525765[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013518495177258 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013518495177258[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012674025728930 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012674025728930[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011923663321346 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011923663321346[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016482786137389 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016482786137389[0m ×2 + 14.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013784427882497 + 14.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013784427882497[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011830568091589 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011830568091589[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015174631721152 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015174631721152[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016023815976482 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016023815976482[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012786172050641 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012786172050641[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014931892186505 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014931892186505[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015832394122818 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015832394122818[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014811370207751 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014811370207751[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021835195547121 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021835195547121[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018604931309463 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018604931309463[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019725847688870 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019725847688870[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016578895671695 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016578895671695[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014123490702777 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014123490702777[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754188 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754188 ms (missed cycles : 3).[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017605182970335 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017605182970335[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018861784851878 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018861784851878[0m ×2 + 14.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008748343116906 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008748343116906[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008957677548664 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008957677548664[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008978021633646 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008978021633646[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011804717478655 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011804717478655[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013006441936923 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013006441936923[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013162545765389 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013162545765389[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012698374731186 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012698374731186[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011913222556619 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011913222556619[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011013818958724 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011013818958724[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011460144543625 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011460144543625[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008034519506281 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008034519506281[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008096822226149 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008096822226149[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871394376027 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871394376027[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006584705217935 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006584705217935[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005009194106276 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005009194106276[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005978262028765 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005978262028765[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006611833603525 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006611833603525[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099592334165 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099592334165[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005927466919563 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005927466919563[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704552470763 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704552470763[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601125852947 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601125852947[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524200181169 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524200181169[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414061476802 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414061476802[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415086610927 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415086610927[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005356213379805 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005356213379805[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207086729102 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207086729102[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631708739572 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631708739572[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918458048584 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918458048584[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005636135226647 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005636135226647[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005972593280312 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005972593280312[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465065919120 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465065919120[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055254552318 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055254552318[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865868961547 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865868961547[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776697344375 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776697344375[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005263323950542 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005263323950542[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470214536296 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470214536296[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504588622388 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504588622388[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005707828870105 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005707828870105[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473698147555 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473698147555[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004730579250265 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004730579250265[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004864251660111 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004864251660111[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871444891013 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871444891013[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004269656870254 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004269656870254[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521054629345 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521054629345[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551072022626 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551072022626[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003670455403878 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003670455403878[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004119868535825 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004119868535825[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532102678096 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532102678096[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386703992626 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386703992626[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003516044913273 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003516044913273[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193904819762 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193904819762[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560372611863 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560372611863[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722040345491 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722040345491[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757026859469 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757026859469[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720715511645 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720715511645[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005299971188246 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005299971188246[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104061147173 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104061147173[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209930733849 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209930733849[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004263064319084 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004263064319084[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285314099116 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285314099116[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287251346724 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287251346724[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004272512004867 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004272512004867[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053903089704 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053903089704[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002653934227039 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002653934227039[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003656377014536 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003656377014536[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945079672351 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945079672351[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004101174902192 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004101174902192[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165930933321 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165930933321[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177029272376 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177029272376[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176595072381 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176595072381[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816267472901 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816267472901[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005897630289381 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005897630289381[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684007894239 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684007894239[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009697005163369 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009697005163369[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012051256960064 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012051256960064[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012096191641535 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012096191641535[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010229479664629 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010229479664629[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008945336278437 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008945336278437[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008564079082986 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008564079082986[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007854025740214 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007854025740214[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007370763086309 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007370763086309[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009973451099447 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009973451099447[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008467838307323 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008467838307323[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007469637190434 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007469637190434[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006828114008653 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006828114008653[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009202844040120 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009202844040120[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007749316099046 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.044003 ms (missed cycles : 7). + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007749316099046[0m ×2 + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.044003 ms (missed cycles : 7).[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007225060950899 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007225060950899[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009029915084850 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009029915084850[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007556636905878 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007556636905878[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006936437561406 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006936437561406[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008553214918559 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008553214918559[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007148248760128 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007148248760128[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008573690715469 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008573690715469[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007004279228621 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007004279228621[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006030493482042 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006030493482042[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007679775393797 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007679775393797[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006351075636969 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006351075636969[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007656605250829 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007656605250829[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006330929761859 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006330929761859[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007628846158622 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007628846158622[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006189729083349 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006189729083349[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007367941159177 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007367941159177[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007550860245513 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007550860245513[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507936174227 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507936174227[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004974349178011 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004974349178011[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006610209090020 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006610209090020[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007470871453126 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007470871453126[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007844996768979 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007844996768979[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007917097421498 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007917097421498[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007820528919287 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007820528919287[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023582874251 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023582874251[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006540997173760 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006540997173760[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710312930689 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710312930689[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006791159780779 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006791159780779[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004925959698261 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004925959698261[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005547396714105 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005547396714105[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007171271119137 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007171271119137[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546942667551 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546942667551[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005977671089136 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005977671089136[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027638328547 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027638328547[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006074495942433 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006074495942433[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003437583468636 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003437583468636[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105388061458 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105388061458[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203929575761 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203929575761[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732050782463 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732050782463[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273052005036 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273052005036[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005367104035785 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005367104035785[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007497644580834 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007497644580834[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006404455548636 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006404455548636[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291290567361 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291290567361[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866114307289 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866114307289[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732527557275 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732527557275[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005987964664461 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005987964664461[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007008958620170 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007008958620170[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006128514613002 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006128514613002[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272465261725 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272465261725[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803080318916 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803080318916[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397171899025 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397171899025[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005755676799717 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005755676799717[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731340414854 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731340414854[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023722552242 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023722552242[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103561689116 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103561689116[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754275770469 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754275770469[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612657373755 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612657373755[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006324081844414 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006324081844414[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947281042130 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947281042130[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004422580873138 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004422580873138[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027785541507 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027785541507[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004475673282835 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004475673282835[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991455730924 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991455730924[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004367340062543 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004367340062543[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005003824631791 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005003824631791[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593415395548 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593415395548[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040635563644 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040635563644[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000493609540370 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000493609540370[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011426931147805 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011426931147805[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004483525341218 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004483525341218[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008542264815369 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008542264815369[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002778472515321 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002778472515321[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006767280402535 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006767280402535[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006423887258142 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006423887258142[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539962714066 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539962714066[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005288188776179 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005288188776179[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735186811968 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735186811968[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465408825134 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465408825134[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859579925587 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859579925587[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010280409875820 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010280409875820[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182833891864 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182833891864[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676518582798 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676518582798[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002362519118856 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002362519118856[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001263757806497 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001263757806497[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008397910855372 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008397910855372[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000245074461754 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000245074461754[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885033 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885033 ms (missed cycles : 2).[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003606135383009 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003606135383009[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004354925201168 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004354925201168[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352880977973 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352880977973[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148414752440 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148414752440[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009901092987063 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009901092987063[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001198278984559 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001198278984559[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963648399741 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963648399741[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003631265067164 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003631265067164[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168203313144 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168203313144[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001421875339474 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001421875339474[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490940633594 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490940633594[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000913612687292 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000913612687292[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005269889715870 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005269889715870[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001071935034075 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001071935034075[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731914735287 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731914735287[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002381594447379 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002381594447379[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004941824852043 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004941824852043[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697495923227 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697495923227[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486702593479 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486702593479[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003200601218646 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003200601218646[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317926062405 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317926062405[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001304033142269 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001304033142269[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577222015442 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577222015442[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337751666499 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001337751666499[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006085566002012 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006085566002012[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000866629178863 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000866629178863[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972863642565 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972863642565[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003429518028786 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003429518028786[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001935165136580 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001935165136580[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001015630364495 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001015630364495[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002382655992355 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002382655992355[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000939734619370 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000939734619370[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364980564344 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364980564344[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002257092244133 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002257092244133[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265677355711 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265677355711[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001791174707253 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001791174707253[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002603528632611 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002603528632611[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274522999740 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274522999740[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135626436313 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135626436313[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001778430581907 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001778430581907[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238272638252 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238272638252[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000621420953661 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000621420953661[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002215546610363 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002215546610363[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001720705388311 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001720705388311[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001564300441736 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001564300441736[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002717129013202 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002717129013202[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532960650360 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532960650360[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000983127714813 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000983127714813[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877584322871 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877584322871[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001600029672927 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001600029672927[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001510350369117 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001510350369117[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002285067183441 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002285067183441[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152347046136 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152347046136[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001046373605908 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001046373605908[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683857756158 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683857756158[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001972009489849 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001972009489849[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002206608483729 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002206608483729[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000332625001577 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000332625001577[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996403403086 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996403403086[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001300473440701 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001300473440701[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002108264957928 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002108264957928[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000783077158909 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000783077158909[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001576621652683 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001576621652683[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001255668165168 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001255668165168[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001048391091187 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001048391091187[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001759679088146 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001759679088146[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001658566796345 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001658566796345[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000904688347251 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000904688347251[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382401025352 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382401025352[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000559358801446 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000559358801446[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001072039520903 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001072039520903[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000458008880451 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000458008880451[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001414366038575 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001414366038575[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000397534910051 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000397534910051[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001052515350277 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001052515350277[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001154988665404 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001154988665404[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000685551233965 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000685551233965[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001446415476862 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001446415476862[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000502291507422 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000502291507422[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001036677966796 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001036677966796[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000737370461689 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000737370461689[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000796601300493 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000796601300493[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000655179539641 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000655179539641[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000405213110753 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000405213110753[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000759278727345 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000759278727345[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077978289298 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077978289298[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001058285775202 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001058285775202[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000703209892429 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000703209892429[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000552603869557 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000552603869557[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204600898089 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204600898089[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723146 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723146 ms (missed cycles : 2).[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218590968147 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218590968147[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073400424813 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073400424813[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004715548668 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004715548668[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369994439007 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369994439007[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000323506808271 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000323506808271[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000199197904278 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000199197904278[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000901179452233 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000901179452233[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000419188400516 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000419188400516[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000138529368811 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000138529368811[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000198984734150 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000198984734150[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074141874355 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074141874355[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000611617688437 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000611617688437[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000270008952458 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000270008952458[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159305657931 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159305657931[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177244387643 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177244387643[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033930736573 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033930736573[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083592707257 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083592707257[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048280037263 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048280037263[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084009344265 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084009344265[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012898071053 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012898071053[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000270237736858 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000270237736858[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000192262217684 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000192262217684[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275615223794 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275615223794[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099496593981 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099496593981[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135005425650 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135005425650[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015554399652 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015554399652[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012843248312 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012843248312[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061277099270 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061277099270[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000053377269197 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000053377269197[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063034860409 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063034860409[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025715396690 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025715396690[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138770766168 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138770766168[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093386394401 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093386394401[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048037872069 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048037872069[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022299692768 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022299692768[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118591518954 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118591518954[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011762352533 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011762352533[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059967677118 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059967677118[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021394643445 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021394643445[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011383239464 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011383239464[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016554977844 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016554977844[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086628167134 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086628167134[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039154689044 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039154689044[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011193363850 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011193363850[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000448324327141 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000448324327141[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000401170709764 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000401170709764[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000112066396197 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000112066396197[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094425786217 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094425786217[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052451543009 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052451543009[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031677385300 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031677385300[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005617427293 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005617427293[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034395740411 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034395740411[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016518879306 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016518879306[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030807408719 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030807408719[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017189007047 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017189007047[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067194128690 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067194128690[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026898200616 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026898200616[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027854771747 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027854771747[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015625455341 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015625455341[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007095515522 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007095515522[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007268113162 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007268113162[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008415048318 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008415048318[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144489020092 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144489020092[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041482783335 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041482783335[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031075582259 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031075582259[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003369041740 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003369041740[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424034564 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424034564[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004463563481 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004463563481[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003037392265 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003037392265[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000769454785016 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000769454785016[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000356201130256 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000356201130256[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009597129762 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009597129762[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031646396927 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031646396927[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000212675999252 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000212675999252[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138085623696 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138085623696[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003657036529 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003657036529[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002572704286 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002572704286[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021407652241 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021407652241[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014000826981 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014000826981[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011418000248 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011418000248[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001510241166 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001510241166[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312099560282 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312099560282[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024324157289 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024324157289[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000592622908 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000592622908[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000553701306 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000553701306[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006727640908 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006727640908[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008849030235 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008849030235[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119930 ms (missed cycles : 2). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119930 ms (missed cycles : 2).[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008678713393 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008678713393[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002531085202 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002531085202[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001374360242 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001374360242[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000526708737 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000526708737[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000401119912 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000401119912[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024726976038 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024726976038[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019864547747 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019864547747[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016316414909 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016316414909[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009724716432 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009724716432[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005270511663 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005270511663[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002412128256 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002412128256[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000693879849 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000693879849[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000245963423 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000245963423[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000680892881 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000680892881[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000808573604 ×2 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000808573604[0m ×4 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000765503602 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000765503602[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000641308553 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000641308553[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000491319593 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000491319593[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000346897171 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000346897171[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000223455790 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000223455790[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126411194 ×2 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126411194[0m ×4 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004602816983 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004602816983[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003644876524 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003644876524[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002886115870 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002886115870[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002285500063 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002285500063[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001810250626 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001810250626[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000901368070 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000901368070[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000567412686 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000567412686[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000450458753 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000450458753[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000357735152 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000357735152[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000284182622 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000284182622[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000179458040 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000179458040[0m ×2 + 19.12sINFOjoint_trajectory_controllerAccepted new action goal ×620 + 19.12sINFOros2_control_nodeAccepted new action goal[0m ×1240 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529484 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529484 ms (missed cycles : 2).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317939 ms (missed cycles : 2). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317939 ms (missed cycles : 2).[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764991 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764991 ms (missed cycles : 2).[0m ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015417 ms (missed cycles : 2). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015417 ms (missed cycles : 2).[0m ×2 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932037 ms (missed cycles : 2). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932037 ms (missed cycles : 2).[0m ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843607 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843607 ms (missed cycles : 2).[0m ×2 + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610727 ms (missed cycles : 3). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610727 ms (missed cycles : 3).[0m ×2 + 26.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789160206.21892309 seconds ×3 + 26.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking With Static Sphere Point Cloud Avoidance"
objective_xml_string: ""
parameter_overrides: []
+ 26.56sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking With Static Sphere Point Cloud Avoidance" ×2 + 26.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1789160206.87793589 seconds. ×3 + 26.82sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 26.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.84sINFOros2_control_node[2026-09-11 20:56:47.063] [info] Received new action goal ×2 + 26.84sINFOros2_control_node[2026-09-11 20:56:47.063] [info] Accepted new action goal ×2 + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718122 ms (missed cycles : 2). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718122 ms (missed cycles : 2).[0m ×2 + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421685 ms (missed cycles : 3). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421685 ms (missed cycles : 3).[0m ×2 + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008119 ms (missed cycles : 7). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008119 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 19.9s | 3 errors · 78 warnings · 248 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3).[0m ×2 + 2.32sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Got request to cancel active goal. ×2 + 2.32sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Canceling active goal... ×2 + 2.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1789160000.08500767 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.89sINFOobjective_server_node ×8 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789160000.67282486 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789160000.79294991 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789160001.44219875 seconds. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347629 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347629 ms (missed cycles : 2).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057328 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057328 ms (missed cycles : 2).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202788 ms (missed cycles : 2). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202788 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353885 ms (missed cycles : 4). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353885 ms (missed cycles : 4).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558142 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558142 ms (missed cycles : 3).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258537 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258537 ms (missed cycles : 2).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401462 ms (missed cycles : 3). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401462 ms (missed cycles : 3).[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969046 ms (missed cycles : 4). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969046 ms (missed cycles : 4).[0m ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921508 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921508 ms (missed cycles : 2).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848645 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848645 ms (missed cycles : 2).[0m ×2 + 17.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 17.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 17.30sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 17.60sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 17.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 17.61sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 17.62sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720127 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720127 ms (missed cycles : 2).[0m ×2 + 17.63sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 17.68sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 17.71sINFOobjective_server_nodeFound path in 5 iterations (0.00492278 s). ×2 + 17.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 17.83sINFOros2_control_node[2026-09-11 20:53:35.567] [info] Received new action goal ×2 + 17.83sINFOros2_control_node[2026-09-11 20:53:35.567] [info] Accepted new action goal ×2 + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.082100 ms (missed cycles : 8). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.082100 ms (missed cycles : 8).[0m ×2 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478509 ms (missed cycles : 3). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478509 ms (missed cycles : 3).[0m ×2 + 20.05sINFOros2_control_node[2026-09-11 20:53:37.790] [info] Received new action goal ×2 + 20.05sINFOros2_control_node[2026-09-11 20:53:37.790] [info] Accepted new action goal ×2 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6).[0m ×2 + 21.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 21.71sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Received new action goal ×2 + 21.71sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Accepted new action goal ×2 + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2). + 21.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2).[0m ×2 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2).[0m ×2 + 22.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789160020.73679066 seconds ×3 + 23.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
+ 23.54sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 23.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789160021.35546803 seconds. ×3 + 23.69sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789160021.43559265 seconds ×3 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3).[0m ×2 + 24.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
+ 24.26sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 24.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789160022.05701995 seconds. ×3 + 24.44sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 24.44sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 24.45sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Received new action goal ×2 + 24.45sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Accepted new action goal ×2 + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2).[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 54 warnings · 223 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.31sINFOros2_control_node[2026-09-11 20:54:11.319] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-11 20:54:11.319] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.842122 ms (missed cycles : 6). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.842122 ms (missed cycles : 6).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 2.80% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759633 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759633 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (2.03e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (2.02e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.050295 ms (missed cycles : 7). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.050295 ms (missed cycles : 7).[0m ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 2.87sINFOobjective_server_nodeFound path in 5 iterations (0.00626563 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 3.00sINFOros2_control_node[2026-09-11 20:54:14.010] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-09-11 20:54:14.010] [info] Accepted new action goal ×2 + 3.39sINFOros2_control_node[2026-09-11 20:54:14.402] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-11 20:54:14.402] [info] Accepted new action goal ×2 + 3.63sINFOros2_control_node[2026-09-11 20:54:14.642] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-09-11 20:54:14.642] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1789160054.65362978 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814436 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814436 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 4.20sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.20sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 4.20sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.20sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.20sINFOobjective_server_node ×6 + 4.31sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789160055.32089758 seconds. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-09-11 20:54:15.505] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-09-11 20:54:15.505] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675866 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675866 ms (missed cycles : 2).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.982519 ms (missed cycles : 8). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.982519 ms (missed cycles : 8).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023936 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023936 ms (missed cycles : 2).[0m ×2 + 7.08sINFOros2_control_node[2026-09-11 20:54:18.090] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-11 20:54:18.090] [info] Accepted new action goal ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713709 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713709 ms (missed cycles : 2).[0m ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.354434 ms (missed cycles : 7). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.354434 ms (missed cycles : 7).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.871406 ms (missed cycles : 5). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.871406 ms (missed cycles : 5).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411465 ms (missed cycles : 5). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411465 ms (missed cycles : 5).[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798146 ms (missed cycles : 5). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798146 ms (missed cycles : 5).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135127 ms (missed cycles : 2). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135127 ms (missed cycles : 2).[0m ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480978 ms (missed cycles : 5). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480978 ms (missed cycles : 5).[0m ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873359 ms (missed cycles : 3). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873359 ms (missed cycles : 3).[0m ×2 + 15.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789160066.66141558 seconds ×3 + 16.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
+ 16.21sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 16.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789160067.26347256 seconds. ×3 + 16.28sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.29sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789160067.35359812 seconds ×3 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946967 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946967 ms (missed cycles : 2).[0m ×2 + 16.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
+ 17.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 17.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789160068.05813718 seconds. ×3 + 17.16sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 17.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.18sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Received new action goal ×2 + 17.18sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Accepted new action goal ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2).[0m ×2 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553459 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553459 ms (missed cycles : 4).[0m ×2 + 0.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.84sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.85sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.85sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.85sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284273 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284273 ms (missed cycles : 2).[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-09-11 20:55:26.461] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-09-11 20:55:26.461] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044866 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044866 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919364 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919364 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789160127.61864376 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_node ×4 + 3.88sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789160128.41691637 seconds. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664546 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664546 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.318689 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.318689 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.22sINFOros2_control_node[2026-09-11 20:55:29.751] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-09-11 20:55:29.751] [info] Accepted new action goal ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086513 ms (missed cycles : 5). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086513 ms (missed cycles : 5).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479796 ms (missed cycles : 3). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479796 ms (missed cycles : 3).[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012936 ms (missed cycles : 5). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012936 ms (missed cycles : 5).[0m ×2 + 8.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.90sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.90sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.90sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.90sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.812367 ms (missed cycles : 8). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.812367 ms (missed cycles : 8).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604464 ms (missed cycles : 4). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604464 ms (missed cycles : 4).[0m ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383327 ms (missed cycles : 4). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383327 ms (missed cycles : 4).[0m ×2 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.33sINFOros2_control_node[2026-09-11 20:55:35.862] [info] Received new action goal ×2 + 11.33sINFOros2_control_node[2026-09-11 20:55:35.862] [info] Accepted new action goal ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930324 ms (missed cycles : 2). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930324 ms (missed cycles : 2).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401398 ms (missed cycles : 4). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401398 ms (missed cycles : 4).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285018 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285018 ms (missed cycles : 2).[0m ×2 + 14.93sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789160139.46707082 seconds ×3 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.205318 ms (missed cycles : 6). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.205318 ms (missed cycles : 6).[0m ×2 + 15.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
+ 15.56sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789160140.16642356 seconds. ×3 + 15.79sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 15.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.81sINFOros2_control_node[2026-09-11 20:55:40.340] [info] Received new action goal ×2 + 15.81sINFOros2_control_node[2026-09-11 20:55:40.340] [info] Accepted new action goal ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521942 ms (missed cycles : 7). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521942 ms (missed cycles : 7).[0m ×2 + 17.08sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.09sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544006 ms (missed cycles : 3). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544006 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 54 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6).[0m ×2 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789160020.73679066 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.80sINFOobjective_server_node ×6 + 2.87sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789160021.35546803 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789160021.43559265 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789160022.05701995 seconds. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.71sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 7.07sINFOros2_control_node[2026-09-11 20:53:45.551] [info] Received new action goal ×2 + 7.07sINFOros2_control_node[2026-09-11 20:53:45.551] [info] Accepted new action goal ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457229 ms (missed cycles : 4). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457229 ms (missed cycles : 4).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608536 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608536 ms (missed cycles : 3).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275806 ms (missed cycles : 4). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275806 ms (missed cycles : 4).[0m ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 9.43sINFOros2_control_node[2026-09-11 20:53:47.908] [info] Received new action goal ×2 + 9.43sINFOros2_control_node[2026-09-11 20:53:47.908] [info] Accepted new action goal ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456433 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456433 ms (missed cycles : 2).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 11.78sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 11.79sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 11.79sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 14.11sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 14.12sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 14.12sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 14.17sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 14.17sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 14.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 14.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 14.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.10sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 49 errors · 38 warnings · 372 info |
+ 0.00sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Canceling active goal... ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1789160324.55065274 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.61sINFOobjective_server_node ×8 + 0.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160325.21460509 seconds. ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160327.19473195 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.20sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789160327.78948450 seconds. ×3 + 3.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.24sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789160327.79126740 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
+ 3.82sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789160328.43079877 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789160328.43130612 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486232 ms (missed cycles : 7). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486232 ms (missed cycles : 7).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789160329.03337216 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309697 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309697 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789160330.48497415 seconds ×3 + 5.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886880 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886880 ms (missed cycles : 5).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086431 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086431 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217046 ms (missed cycles : 5). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217046 ms (missed cycles : 5).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381842 ms (missed cycles : 6). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381842 ms (missed cycles : 6).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.691781 ms (missed cycles : 8). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.691781 ms (missed cycles : 8).[0m ×2 + 11.33sERRORweb_video_server-21process[web_video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sINFOweb_video_server-21sending signal 'SIGTERM' to process[web_video_server-21] ×2 + 11.37sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.39sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.41sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.42sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.43sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.44sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.44sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.45sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.46sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.48sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957804 ms (missed cycles : 2). + 11.49sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.49sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.51sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.53sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.54sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.54sINFOcontroller_managerShutdown request received.... + 11.54sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.54sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.54sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.55sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.55sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.55sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.55sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.55sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.55sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.55sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.55sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.2', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.55sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.55sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.55sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.55sINFOui_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 + 11.55sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.55sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.55sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.55sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.55sINFOcontroller_managerShutting down the controller manager. + 11.55sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.55sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.55sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.55sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957804 ms (missed cycles : 2).[0m ×2 + 11.55sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.55sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.55sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.55sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.55sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.55sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.55sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.55sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.55sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.61sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9770] ×2 + 11.61sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.62sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.62sINFOobjective_server_node[0;m[2026-09-11 20:58:56.156] [moveit_pro_license] [critical] ×2 + 11.62sINFOobjective_server_node************************************************* ×4 + 11.62sINFOobjective_server_node* MoveIt Pro License ×2 + 11.62sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.62sINFOweb_video_server-21process has finished cleanly [pid 9771] ×2 + 11.67sERRORui_teleop_bridge-18process has died [pid 9654, 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_5dxgqjop']. ×2 + 11.67sINFOcomponent_container_mt-16process has finished cleanly [pid 9652] ×2 + 11.69sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9649] ×2 + 11.69sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.69sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.70sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.70sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9648] ×2 + 11.71sINFOexecute_objective_bridge-17process has finished cleanly [pid 9653] ×2 + 11.72sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.72sINFOwaypoint_manager_node-11process has finished cleanly [pid 9647] ×2 + 11.74sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.74sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5611e63476a4, in _start ×2 + 11.74sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa5fcea328a, in __libc_start_main ×2 + 11.74sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa5fcea31d0, in ×2 + 11.74sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa5fcec0bbd, in exit ×2 + 11.74sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa5fcec0a75, in ×2 + 11.74sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fa5fd38f8f5, in spdlog::details::registry::~registry() ×2 + 11.74sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5611e6347d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.74sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5611e634e315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.74sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5611e634d5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.74sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5611e6349b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.74sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5611e6347d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.74sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa5fda5e454, in rclcpp::Node::~Node() ×2 + 11.74sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa5fda19515, in ×2 + 11.74sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa5fda5cd20, in ×2 + 11.74sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa5fda5cc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.74sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa5fda195d9, in ×2 + 11.74sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa5fda1e161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.74sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fa5b1aa8668]) ×2 + 11.74sINFOparameter_manager_node-10process has finished cleanly [pid 9646] ×2 + 12.24sERRORobjective_server_node_main-14process has died [pid 9650, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params__4d8xoi2 --params-file /tmp/launch_params_17jvk08e --params-file /tmp/launch_params_15jklntr --params-file /tmp/launch_params_vu2w92ug --params-file /tmp/launch_params_so5vinhy --params-file /tmp/launch_params__u4jscfo']. ×2 + 12.24sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.63sINFOcomponent_container_mt-15process has finished cleanly [pid 9651] ×2 + 12.70sINFOmove_group-9process has finished cleanly [pid 9645] ×2 + 13.33sINFOros2_control_node-1process has finished cleanly [pid 9608] ×2 + 13.96sINFOweb_bridge-19process has finished cleanly [pid 9655] ×2 + 13.97sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 51 warnings · 406 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.56sINFOobjective_server_node ×14 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 2.86sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.86sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 5.62sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.37sINFOros2_control_node[2026-09-11 20:53:12.440] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-11 20:53:12.440] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800291 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800291 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155127 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155127 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692097 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692097 ms (missed cycles : 2).[0m ×2 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 10.14sINFOros2_control_node[2026-09-11 20:53:16.210] [info] Received new action goal ×2 + 10.14sINFOros2_control_node[2026-09-11 20:53:16.210] [info] Accepted new action goal ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777219 ms (missed cycles : 5). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777219 ms (missed cycles : 5).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2).[0m ×2 + 13.48sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 13.48sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.51sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Received new action goal ×2 + 13.51sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Accepted new action goal ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3).[0m ×2 + 13.99sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Got request to cancel active goal. ×2 + 13.99sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Canceling active goal... ×2 + 14.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1789160000.08500767 seconds ×3 + 14.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 14.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789160000.67282486 seconds. ×3 + 14.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789160000.79294991 seconds ×3 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4).[0m ×2 + 15.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
+ 15.32sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789160001.44219875 seconds. ×3 + 15.59sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 15.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.60sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Received new action goal ×2 + 15.60sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Accepted new action goal ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 54 warnings · 193 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×4 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.08sINFOros2_control_node[2026-09-11 20:53:59.989] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-11 20:53:59.989] [info] Accepted new action goal ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.766935 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.766935 ms (missed cycles : 6).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528694 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528694 ms (missed cycles : 2).[0m ×2 + 2.27sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.645538 ms (missed cycles : 7). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.645538 ms (missed cycles : 7).[0m ×2 + 2.56sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 2.56sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 2.56sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789160042.48011017 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557041 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557041 ms (missed cycles : 2).[0m ×2 + 3.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
+ 4.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 4.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.18sINFOobjective_server_node ×4 + 4.26sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789160044.17271376 seconds. ×3 + 4.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051411 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051411 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (4.73e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-09-11 20:54:04.418] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-09-11 20:54:04.418] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.430858 ms (missed cycles : 6). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.430858 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721392 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721392 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815077 ms (missed cycles : 5). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815077 ms (missed cycles : 5).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556577 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556577 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001232 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001232 ms (missed cycles : 2).[0m ×2 + 10.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 10.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155706 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155706 ms (missed cycles : 2).[0m ×2 + 10.73sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 10.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 10.74sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 10.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 10.75sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 10.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 10.81sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 10.87sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 10.89sINFOobjective_server_nodeFound path in 5 iterations (0.00504298 s). ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 10.99sINFOobjective_server_nodeFound path in 1 iterations (0.00505034 s). ×2 + 11.10sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 11.13sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 11.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X] ×2 + 11.25sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 11.41sINFOros2_control_node[2026-09-11 20:54:11.319] [info] Received new action goal ×2 + 11.41sINFOros2_control_node[2026-09-11 20:54:11.319] [info] Accepted new action goal ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.842122 ms (missed cycles : 6). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.842122 ms (missed cycles : 6).[0m ×2 + 11.78sINFOros2_control_nodeMuJoCo sim: 2.80% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759633 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759633 ms (missed cycles : 2).[0m ×2 + 13.86sINFOobjective_server_nodeFound path in 0 iterations (2.03e-07 s). ×2 + 13.86sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 13.86sINFOobjective_server_nodeFound path in 0 iterations (2.02e-07 s). ×2 + 13.86sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 13.88sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.050295 ms (missed cycles : 7). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.050295 ms (missed cycles : 7).[0m ×2 + 13.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 13.97sINFOobjective_server_nodeFound path in 5 iterations (0.00626563 s). ×2 + 14.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 14.10sINFOros2_control_node[2026-09-11 20:54:14.010] [info] Received new action goal ×2 + 14.10sINFOros2_control_node[2026-09-11 20:54:14.010] [info] Accepted new action goal ×2 + 14.49sINFOros2_control_node[2026-09-11 20:54:14.402] [info] Received new action goal ×2 + 14.49sINFOros2_control_node[2026-09-11 20:54:14.402] [info] Accepted new action goal ×2 + 14.73sINFOros2_control_node[2026-09-11 20:54:14.642] [info] Got request to cancel active goal. ×2 + 14.73sINFOros2_control_node[2026-09-11 20:54:14.642] [info] Canceling active goal... ×2 + 14.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1789160054.65362978 seconds ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814436 ms (missed cycles : 5). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814436 ms (missed cycles : 5).[0m ×2 + 15.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 15.29sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 15.41sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789160055.32089758 seconds. ×3 + 15.58sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 15.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.59sINFOros2_control_node[2026-09-11 20:54:15.505] [info] Received new action goal ×2 + 15.59sINFOros2_control_node[2026-09-11 20:54:15.505] [info] Accepted new action goal ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675866 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675866 ms (missed cycles : 2).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.982519 ms (missed cycles : 8). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.982519 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 54 warnings · 244 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2).[0m ×2 + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1789160312.05166793 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×6 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×12 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×6 + 2.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.71sINFOobjective_server_node ×8 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789160312.70347881 seconds. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789160312.81360722 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
+ 3.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789160313.41662169 seconds. ×3 + 3.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789160313.43934131 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
+ 4.07sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789160314.08561349 seconds. ×3 + 4.16sINFOobjective_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 5.858516 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.31sINFOros2_control_node[2026-09-11 20:58:34.245] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-09-11 20:58:34.246] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638633 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638633 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597021 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597021 ms (missed cycles : 4).[0m ×2 + 7.61sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.61sINFOros2_control_node[2026-09-11 20:58:37.549] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-09-11 20:58:37.549] [info] Accepted new action goal ×2 + 7.61sINFOros2_control_node[2026-09-11 20:58:37.550] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067489 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067489 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267117 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267117 ms (missed cycles : 3).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886324 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886324 ms (missed cycles : 2).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029979 ms (missed cycles : 4). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029979 ms (missed cycles : 4).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745915 ms (missed cycles : 6). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745915 ms (missed cycles : 6).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.863912 ms (missed cycles : 8). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.863912 ms (missed cycles : 8).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4).[0m ×2 + 14.61sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Got request to cancel active goal. ×2 + 14.61sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Canceling active goal... ×2 + 14.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1789160324.55065274 seconds ×3 + 15.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 15.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 15.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160325.21460509 seconds. ×3 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8).[0m ×2 + 17.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160327.19473195 seconds ×3 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 51 warnings · 152 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.285114 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.285114 ms (missed cycles : 8).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207577 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207577 ms (missed cycles : 5).[0m ×2 + 2.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496217 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496217 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1789160268.54536438 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902785 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902785 ms (missed cycles : 2).[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789160269.26897573 seconds. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-09-11 20:57:49.543] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-11 20:57:49.543] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133185 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133185 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.469604 ms (missed cycles : 7). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.469604 ms (missed cycles : 7).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705985 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705985 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695420 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695420 ms (missed cycles : 3).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927425 ms (missed cycles : 6). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927425 ms (missed cycles : 6).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569455 ms (missed cycles : 4). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569455 ms (missed cycles : 4).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813378 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813378 ms (missed cycles : 3).[0m ×2 + 11.04sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.04sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 11.05sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 11.35sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 11.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.36sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 11.36sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 11.37sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 11.46sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 11.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 11.53sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.55sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 11.55sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 13.79sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 13.79sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 14.30sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 14.30sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 14.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 14.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 14.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 15.19sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 17.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 51 warnings · 145 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 0.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_node ×4 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111215 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111215 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.504018 ms (missed cycles : 7). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.504018 ms (missed cycles : 7).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983208 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983208 ms (missed cycles : 2).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170071 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170071 ms (missed cycles : 2).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283287 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283287 ms (missed cycles : 2).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555432 ms (missed cycles : 3). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555432 ms (missed cycles : 3).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513630 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513630 ms (missed cycles : 2).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804262 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804262 ms (missed cycles : 2).[0m ×2 + 14.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1789160290.55330300 seconds ×3 + 14.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 14.81sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789160291.14676046 seconds. ×3 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758611 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758611 ms (missed cycles : 2).[0m ×2 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 15.24sINFOros2_control_node[2026-09-11 20:58:11.531] [info] Received new action goal ×2 + 15.24sINFOros2_control_node[2026-09-11 20:58:11.531] [info] Accepted new action goal ×2 + 15.41sINFOros2_control_nodeMuJoCo sim: 3.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.768700 ms (missed cycles : 8). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.768700 ms (missed cycles : 8).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339561 ms (missed cycles : 4). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339561 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 54 warnings · 217 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034572 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034572 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.610974 ms (missed cycles : 9). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.610974 ms (missed cycles : 9).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.931974 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.931974 ms (missed cycles : 6).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.307979 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.307979 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789160301.14560580 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066777 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066777 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
+ 4.16sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 4.16sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 4.16sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.16sINFOobjective_server_nodeparameter_overrides: [] ×8 + 4.16sINFOobjective_server_node ×8 + 4.23sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789160301.76984382 seconds. ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-11 20:58:21.914] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-11 20:58:21.914] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593318 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593318 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943170 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943170 ms (missed cycles : 3).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014003 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014003 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.142295 ms (missed cycles : 7). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.142295 ms (missed cycles : 7).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659254 ms (missed cycles : 6). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659254 ms (missed cycles : 6).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563153 ms (missed cycles : 6). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563153 ms (missed cycles : 6).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4).[0m ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2).[0m ×2 + 14.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1789160312.05166793 seconds ×3 + 15.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
+ 15.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 15.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789160312.70347881 seconds. ×3 + 15.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.21sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789160312.81360722 seconds ×3 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2).[0m ×2 + 15.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
+ 15.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789160313.41662169 seconds. ×3 + 15.90sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.90sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789160313.43934131 seconds ×3 + 16.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
+ 16.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789160314.08561349 seconds. ×3 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4).[0m ×2 + 16.69sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 16.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.71sINFOros2_control_node[2026-09-11 20:58:34.245] [info] Received new action goal ×2 + 16.71sINFOros2_control_node[2026-09-11 20:58:34.246] [info] Accepted new action goal ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 54 warnings · 180 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_node ×4 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926713 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926713 ms (missed cycles : 2).[0m ×2 + 9.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.07sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.519874 ms (missed cycles : 6). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.519874 ms (missed cycles : 6).[0m ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 9.38sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 9.38sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 9.51sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 9.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.70sINFOobjective_server_nodeFound path in 5 iterations (0.00651112 s). ×2 + 9.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 9.81sINFOobjective_server_nodeFound path in 1 iterations (0.00314989 s). ×2 + 9.90sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 9.92sINFOobjective_server_nodeFound path in 0 iterations (1.69e-07 s). ×2 + 10.05sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 10.13sINFOros2_control_node[2026-09-11 20:53:59.989] [info] Received new action goal ×2 + 10.13sINFOros2_control_node[2026-09-11 20:53:59.989] [info] Accepted new action goal ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.766935 ms (missed cycles : 6). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.766935 ms (missed cycles : 6).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528694 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528694 ms (missed cycles : 2).[0m ×2 + 12.31sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.645538 ms (missed cycles : 7). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.645538 ms (missed cycles : 7).[0m ×2 + 12.60sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.60sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.61sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789160042.48011017 seconds ×3 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557041 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557041 ms (missed cycles : 2).[0m ×2 + 14.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
+ 14.22sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.31sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789160044.17271376 seconds. ×3 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051411 ms (missed cycles : 4). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051411 ms (missed cycles : 4).[0m ×2 + 14.54sINFOobjective_server_nodeFound path in 0 iterations (4.73e-07 s). ×2 + 14.56sINFOros2_control_node[2026-09-11 20:54:04.418] [info] Received new action goal ×2 + 14.56sINFOros2_control_node[2026-09-11 20:54:04.418] [info] Accepted new action goal ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.430858 ms (missed cycles : 6). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.430858 ms (missed cycles : 6).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721392 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721392 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 51 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283287 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283287 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555432 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555432 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513630 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513630 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804262 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804262 ms (missed cycles : 2).[0m ×2 + 3.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1789160290.55330300 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.00sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 4.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.00sINFOobjective_server_node ×4 + 4.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789160291.14676046 seconds. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758611 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758611 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.43sINFOros2_control_node[2026-09-11 20:58:11.531] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-09-11 20:58:11.531] [info] Accepted new action goal ×2 + 4.59sINFOros2_control_nodeMuJoCo sim: 3.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.768700 ms (missed cycles : 8). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.768700 ms (missed cycles : 8).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339561 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339561 ms (missed cycles : 4).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.824733 ms (missed cycles : 6). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.824733 ms (missed cycles : 6).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408326 ms (missed cycles : 4). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408326 ms (missed cycles : 4).[0m ×2 + 8.46sINFOros2_control_node[2026-09-11 20:58:15.562] [info] Received new action goal ×2 + 8.46sINFOros2_control_node[2026-09-11 20:58:15.562] [info] Accepted new action goal ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566349 ms (missed cycles : 4). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566349 ms (missed cycles : 4).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034572 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034572 ms (missed cycles : 3).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.610974 ms (missed cycles : 9). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.610974 ms (missed cycles : 9).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.931974 ms (missed cycles : 6). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.931974 ms (missed cycles : 6).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.307979 ms (missed cycles : 5). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.307979 ms (missed cycles : 5).[0m ×2 + 14.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789160301.14560580 seconds ×3 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066777 ms (missed cycles : 5). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066777 ms (missed cycles : 5).[0m ×2 + 14.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
+ 14.60sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.67sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789160301.76984382 seconds. ×3 + 14.79sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 14.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.81sINFOros2_control_node[2026-09-11 20:58:21.914] [info] Received new action goal ×2 + 14.81sINFOros2_control_node[2026-09-11 20:58:21.914] [info] Accepted new action goal ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593318 ms (missed cycles : 4). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593318 ms (missed cycles : 4).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943170 ms (missed cycles : 3). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943170 ms (missed cycles : 3).[0m ×2 + 16.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 10.0s | 48 warnings · 160 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789160068.05813718 seconds. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 0.18sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789160070.19826531 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112286 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112286 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845017 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845017 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Find Objects on Table"
objective_xml_string: ""
parameter_overrides: []
+ 3.77sINFOobjective_server_nodeobjective_name: "ML Find Objects on Table" ×2 + 3.83sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1789160071.83995628 seconds. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.00sINFOros2_control_node[2026-09-11 20:54:32.004] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-11 20:54:32.004] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798640 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798640 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887905 ms (missed cycles : 6). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887905 ms (missed cycles : 6).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567088 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567088 ms (missed cycles : 4).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942712 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942712 ms (missed cycles : 2).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585622 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585622 ms (missed cycles : 2).[0m ×2 + 9.83sINFOobjective_server_node[0;93m2026-09-11 20:54:37.838387437 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.83sINFOobjective_server_node[0;93m2026-09-11 20:54:37.838414575 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197763 ms (missed cycles : 5). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197763 ms (missed cycles : 5).[0m ×2 + 10.58sINFOobjective_server_node[0;93m2026-09-11 20:54:38.581239124 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.58sINFOobjective_server_node[0;93m2026-09-11 20:54:38.581272113 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.79sINFOobjective_server_node[0;93m2026-09-11 20:54:38.795186328 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 10.79sINFOobjective_server_node[0;93m2026-09-11 20:54:38.799657460 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.79sINFOobjective_server_node[0;93m2026-09-11 20:54:38.799691627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868796 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868796 ms (missed cycles : 2).[0m ×2 + 11.21sINFOobjective_server_node[0;93m2026-09-11 20:54:39.218994564 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 11.24sINFOobjective_server_node[0;93m2026-09-11 20:54:39.241000306 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 11.24sINFOobjective_server_node[0;93m2026-09-11 20:54:39.241028806 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754193 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754193 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971269 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971269 ms (missed cycles : 2).[0m ×2 + 13.16sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1789160081.16633153 seconds ×3 + 13.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Segment Bottles from File"
objective_xml_string: ""
parameter_overrides: []
+ 13.71sINFOobjective_server_nodeobjective_name: "ML Segment Bottles from File" ×2 + 13.82sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1789160081.82819748 seconds. ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16).[0m ×2 + 14.57sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574029163 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 14.57sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574059685 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4).[0m ×2 + 15.27sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271747191 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.27sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271776904 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.44sINFOobjective_server_node[0;93m2026-09-11 20:54:43.442214541 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 15.44sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445575607 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.44sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445598273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.88sINFOobjective_server_node[0;93m2026-09-11 20:54:43.885575700 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 15.91sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914082281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.91sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914112162 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 4.2s | 33 warnings · 144 info |
+ 0.00sINFOobjective_server_node[0;93m2026-09-11 20:54:37.838387437 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-09-11 20:54:37.838414575 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197763 ms (missed cycles : 5). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197763 ms (missed cycles : 5).[0m ×2 + 0.74sINFOobjective_server_node[0;93m2026-09-11 20:54:38.581239124 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.74sINFOobjective_server_node[0;93m2026-09-11 20:54:38.581272113 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.96sINFOobjective_server_node[0;93m2026-09-11 20:54:38.795186328 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.96sINFOobjective_server_node[0;93m2026-09-11 20:54:38.799657460 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.96sINFOobjective_server_node[0;93m2026-09-11 20:54:38.799691627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868796 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_node[0;93m2026-09-11 20:54:39.218994564 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.40sINFOobjective_server_node[0;93m2026-09-11 20:54:39.241000306 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.40sINFOobjective_server_node[0;93m2026-09-11 20:54:39.241028806 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754193 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754193 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971269 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971269 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1789160081.16633153 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Segment Bottles from File"
objective_xml_string: ""
parameter_overrides: []
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "ML Segment Bottles from File" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_node ×4 + 3.99sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1789160081.82819748 seconds. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16).[0m ×2 + 4.74sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574029163 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.74sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574059685 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271747191 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.43sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271776904 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.60sINFOobjective_server_node[0;93m2026-09-11 20:54:43.442214541 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.61sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445575607 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.61sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445598273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.05sINFOobjective_server_node[0;93m2026-09-11 20:54:43.885575700 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.08sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914082281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.08sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914112162 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2).[0m ×2 + 7.55sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1789160085.38491511 seconds ×3 + 8.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
+ 8.17sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 8.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789160086.11986923 seconds. ×3 + 8.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 8.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2).[0m ×2 + 8.36sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 8.37sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 8.73sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Received new action goal ×2 + 8.73sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Accepted new action goal ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 30 warnings · 172 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135127 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135127 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480978 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480978 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873359 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873359 ms (missed cycles : 3).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789160066.66141558 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.95sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.95sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789160067.26347256 seconds. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789160067.35359812 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946967 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946967 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
+ 3.73sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.79sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789160068.05813718 seconds. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.92sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789160070.19826531 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112286 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112286 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845017 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845017 ms (missed cycles : 2).[0m ×2 + 7.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Find Objects on Table"
objective_xml_string: ""
parameter_overrides: []
+ 7.50sINFOobjective_server_nodeobjective_name: "ML Find Objects on Table" ×2 + 7.57sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1789160071.83995628 seconds. ×3 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 7.73sINFOros2_control_node[2026-09-11 20:54:32.004] [info] Received new action goal ×2 + 7.73sINFOros2_control_node[2026-09-11 20:54:32.004] [info] Accepted new action goal ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798640 ms (missed cycles : 5). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798640 ms (missed cycles : 5).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887905 ms (missed cycles : 6). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887905 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.6s | 3 errors · 30 warnings · 175 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029979 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029979 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745915 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745915 ms (missed cycles : 6).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.863912 ms (missed cycles : 8). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.863912 ms (missed cycles : 8).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4).[0m ×2 + 3.20sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Canceling active goal... ×2 + 3.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1789160324.55065274 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.81sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.81sINFOobjective_server_node ×8 + 3.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160325.21460509 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160327.19473195 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
+ 6.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789160327.78948450 seconds. ×3 + 6.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.45sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789160327.79126740 seconds ×3 + 7.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
+ 7.02sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 7.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789160328.43079877 seconds. ×3 + 7.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789160328.43130612 seconds ×3 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486232 ms (missed cycles : 7). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486232 ms (missed cycles : 7).[0m ×2 + 7.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 7.64sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789160329.03337216 seconds. ×3 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309697 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309697 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 637 info |
+ 0.00sINFOobjective_server_node[2026-09-11 20:53:01.033] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.49sINFOobjective_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 + 0.49sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.63sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.63sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.63sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.63sWARNros2_control_node16 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 + 0.63sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.63sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.63sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.63sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.63sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.63sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.63sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.63sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.63sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.63sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.63sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.63sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.63sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.63sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.63sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.63sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.63sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.63sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.63sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.63sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.64sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.64sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.64sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.64sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.64sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.64sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.64sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.70sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.70sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.87sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.01sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.01sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.01sINFOros2_control_node[2026-09-11 20:53:02.047] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.01sINFOros2_control_node[2026-09-11 20:53:02.047] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.04sINFOros2_control_node[2026-09-11 20:53:02.071] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.04sINFOros2_control_node[2026-09-11 20:53:02.071] [info] Controller state will be published at 50 Hz. ×2 + 1.04sINFOros2_control_node[2026-09-11 20:53:02.078] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900114 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900114 ms (missed cycles : 2).[0m ×2 + 1.34sINFOros2-6process has finished cleanly [pid 9613] ×2 + 1.34sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.34sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.34sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.39sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.39sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.39sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.39sINFOforce_torque_sensor_broadcasterconfigure successful + 1.39sINFOros2_control_nodeconfigure successful[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.41sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.45sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.52sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.52sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 1.58sWARNobjective_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 + 1.59sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.60sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.60sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.60sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.60sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.60sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.66sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 1.71sINFOros2-2process has finished cleanly [pid 9609] ×2 + 1.71sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.72sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.72sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.73sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.73sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.79sINFOmove_group ×4 + 1.79sINFOmove_group[92mYou can start planning now![0m ×2 + 1.80sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.80sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.80sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.80sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.80sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.81sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.81sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.81sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.81sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.14sINFOros2-5process has finished cleanly [pid 9612] ×2 + 2.15sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.15sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.22sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 2.22sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 2.26sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.26sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.26sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.29sINFOros2_control_node[2026-09-11 20:53:03.322] [info] Controller state will be published at 10 Hz. ×2 + 2.29sINFOros2_control_node[2026-09-11 20:53:03.323] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.56sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.56sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.56sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.56sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.57sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.58sINFOros2-7process has finished cleanly [pid 9614] ×2 + 2.65sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 2.65sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 2.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.69sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.72sINFOros2_control_node[2026-09-11 20:53:03.755] [info] Controller state will be published at 20 Hz. ×2 + 2.72sINFOros2_control_node[2026-09-11 20:53:03.756] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7).[0m ×2 + 3.05sINFOros2-8process has finished cleanly [pid 9615] ×2 + 3.05sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.05sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.05sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.05sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.05sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 3.05sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 3.06sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.06sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.09sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.09sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.09sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.09sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.09sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.09sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.10sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.10sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 3.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×12 + 3.31sINFOobjective_server_node ×12 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789159984.39311862 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789159984.40332627 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.42sINFOros2-3process has finished cleanly [pid 9610] ×2 + 3.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.44sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 3.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 3.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.48sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.49sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.49sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.49sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.49sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 3.49sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 3.49sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.50sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.80sINFOros2-4process has finished cleanly [pid 9611] ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 3.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 5.59sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 5.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 6.35sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 6.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 6.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 6.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 7.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 7.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 7.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 7.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 7.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 3 errors · 21 warnings · 164 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2).[0m ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1789160312.05166793 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.72sINFOobjective_server_node ×6 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789160312.70347881 seconds. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789160312.81360722 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
+ 4.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789160313.41662169 seconds. ×3 + 4.51sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789160313.43934131 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789160314.08561349 seconds. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4).[0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.33sINFOros2_control_node[2026-09-11 20:58:34.245] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-11 20:58:34.246] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777219 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777219 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 2.86sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.88sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Received new action goal ×2 + 2.88sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Canceling active goal... ×2 + 3.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1789160000.08500767 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.94sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.94sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789160000.67282486 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789160000.79294991 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
+ 4.70sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789160001.44219875 seconds. ×3 + 4.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.97sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 24 warnings · 109 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478509 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478509 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_node[2026-09-11 20:53:37.790] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-11 20:53:37.790] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789160020.73679066 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.88sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789160021.35546803 seconds. ×3 + 4.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789160021.43559265 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
+ 4.59sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.65sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789160022.05701995 seconds. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.79sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 24 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798146 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798146 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135127 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135127 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480978 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480978 ms (missed cycles : 5).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873359 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873359 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789160066.66141558 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
+ 3.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.98sINFOobjective_server_node ×4 + 4.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789160067.26347256 seconds. ×3 + 4.06sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.08sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789160067.35359812 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946967 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946967 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
+ 4.77sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.82sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789160068.05813718 seconds. ×3 + 4.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.95sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2).[0m ×2 + 6.96sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789160070.19826531 seconds ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112286 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112286 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 30 warnings · 524 info |
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.11sINFOros2-2process has finished cleanly [pid 9609] ×2 + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group[92mYou can start planning now![0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.22sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 9612] ×2 + 0.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.70sINFOros2_control_node[2026-09-11 20:53:03.322] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-09-11 20:53:03.323] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOros2-7process has finished cleanly [pid 9614] ×2 + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.13sINFOros2_control_node[2026-09-11 20:53:03.755] [info] Controller state will be published at 20 Hz. ×2 + 1.13sINFOros2_control_node[2026-09-11 20:53:03.756] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7).[0m ×2 + 1.45sINFOros2-8process has finished cleanly [pid 9615] ×2 + 1.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 1.72sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.72sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.72sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.72sINFOobjective_server_node ×14 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789159984.39311862 seconds. ×3 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789159984.40332627 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.82sINFOros2-3process has finished cleanly [pid 9610] ×2 + 1.85sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.85sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.89sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.89sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.89sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.21sINFOros2-4process has finished cleanly [pid 9611] ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 2.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 6.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 7.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 7.02sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 7.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.24sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 7.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.25sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 7.26sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 24 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4).[0m ×2 + 0.02sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Got request to cancel active goal. ×2 + 0.02sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Canceling active goal... ×2 + 0.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1789160324.55065274 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.63sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.63sINFOobjective_server_node ×8 + 0.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160325.21460509 seconds. ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160327.19473195 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789160327.78948450 seconds. ×3 + 3.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.27sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789160327.79126740 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
+ 3.84sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789160328.43079877 seconds. ×3 + 3.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789160328.43130612 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486232 ms (missed cycles : 7). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486232 ms (missed cycles : 7).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 4.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789160329.03337216 seconds. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309697 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309697 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789160330.48497415 seconds ×3 + 6.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886880 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886880 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 21 warnings · 164 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2).[0m ×2 + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1789160312.05166793 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.71sINFOobjective_server_node ×6 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789160312.70347881 seconds. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789160312.81360722 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
+ 3.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789160313.41662169 seconds. ×3 + 3.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789160313.43934131 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
+ 4.07sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789160314.08561349 seconds. ×3 + 4.16sINFOobjective_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 5.858516 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.31sINFOros2_control_node[2026-09-11 20:58:34.245] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-09-11 20:58:34.246] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638633 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638633 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 27 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.863912 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.863912 ms (missed cycles : 8).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4).[0m ×2 + 1.09sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Got request to cancel active goal. ×2 + 1.09sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Canceling active goal... ×2 + 1.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1789160324.55065274 seconds ×3 + 1.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.70sINFOobjective_server_node ×8 + 1.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160325.21460509 seconds. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160327.19473195 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
+ 4.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789160327.78948450 seconds. ×3 + 4.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.34sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789160327.79126740 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
+ 4.91sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789160328.43079877 seconds. ×3 + 4.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789160328.43130612 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486232 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486232 ms (missed cycles : 7).[0m ×2 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 5.53sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789160329.03337216 seconds. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309697 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309697 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789160330.48497415 seconds ×3 + 7.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886880 ms (missed cycles : 5). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886880 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.1s | 21 warnings · 96 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Segment Bottles from File"
objective_xml_string: ""
parameter_overrides: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "ML Segment Bottles from File" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1789160081.82819748 seconds. ×3 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16).[0m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574029163 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574059685 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271747191 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271776904 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-09-11 20:54:43.442214541 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445575607 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445598273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-09-11 20:54:43.885575700 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914082281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914112162 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1789160085.38491511 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
+ 4.30sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 4.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789160086.11986923 seconds. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.50sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 18 warnings · 93 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 0.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 21 warnings · 119 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798146 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798146 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135127 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135127 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480978 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480978 ms (missed cycles : 5).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873359 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873359 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789160066.66141558 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
+ 3.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.98sINFOobjective_server_node ×4 + 4.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789160067.26347256 seconds. ×3 + 4.06sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.08sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789160067.35359812 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946967 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946967 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
+ 4.77sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.82sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789160068.05813718 seconds. ×3 + 4.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.95sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 21 warnings · 96 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Segment Bottles from File"
objective_xml_string: ""
parameter_overrides: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "ML Segment Bottles from File" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1789160081.82819748 seconds. ×3 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16).[0m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574029163 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574059685 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271747191 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271776904 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-09-11 20:54:43.442214541 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445575607 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445598273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-09-11 20:54:43.885575700 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914082281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914112162 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1789160085.38491511 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
+ 4.30sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 4.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789160086.11986923 seconds. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.50sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 21 warnings · 96 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Segment Bottles from File"
objective_xml_string: ""
parameter_overrides: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "ML Segment Bottles from File" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1789160081.82819748 seconds. ×3 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16).[0m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574029163 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574059685 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271747191 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271776904 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-09-11 20:54:43.442214541 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445575607 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445598273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-09-11 20:54:43.885575700 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914082281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914112162 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1789160085.38491511 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
+ 4.30sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 4.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789160086.11986923 seconds. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.50sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 warnings · 2114 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015417 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015417 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932037 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932037 ms (missed cycles : 2).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843607 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843607 ms (missed cycles : 2).[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610727 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610727 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789160206.21892309 seconds ×3 + 3.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking With Static Sphere Point Cloud Avoidance"
objective_xml_string: ""
parameter_overrides: []
+ 4.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.37sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking With Static Sphere Point Cloud Avoidance" ×2 + 4.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.37sINFOobjective_server_node ×2 + 4.47sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1789160206.87793589 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.66sINFOros2_control_node[2026-09-11 20:56:47.063] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-09-11 20:56:47.063] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718122 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718122 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421685 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421685 ms (missed cycles : 3).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008119 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008119 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 21 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.285114 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.285114 ms (missed cycles : 8).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207577 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207577 ms (missed cycles : 5).[0m ×2 + 2.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496217 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496217 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1789160268.54536438 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902785 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902785 ms (missed cycles : 2).[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789160269.26897573 seconds. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-09-11 20:57:49.543] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-11 20:57:49.543] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133185 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133185 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.469604 ms (missed cycles : 7). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.469604 ms (missed cycles : 7).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705985 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705985 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 21 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.285114 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.285114 ms (missed cycles : 8).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207577 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207577 ms (missed cycles : 5).[0m ×2 + 2.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496217 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496217 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1789160268.54536438 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902785 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902785 ms (missed cycles : 2).[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789160269.26897573 seconds. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-09-11 20:57:49.543] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-11 20:57:49.543] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133185 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133185 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.469604 ms (missed cycles : 7). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.469604 ms (missed cycles : 7).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705985 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705985 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 21 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034572 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034572 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.610974 ms (missed cycles : 9). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.610974 ms (missed cycles : 9).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.931974 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.931974 ms (missed cycles : 6).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.307979 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.307979 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789160301.14560580 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066777 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066777 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
+ 4.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.16sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 4.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.16sINFOobjective_server_node ×2 + 4.23sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789160301.76984382 seconds. ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-11 20:58:21.914] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-11 20:58:21.914] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593318 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593318 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943170 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943170 ms (missed cycles : 3).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777219 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777219 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 2.86sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.88sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Received new action goal ×2 + 2.88sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Canceling active goal... ×2 + 3.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1789160000.08500767 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.94sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.94sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789160000.67282486 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789160000.79294991 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
+ 4.70sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789160001.44219875 seconds. ×3 + 4.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.97sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777219 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777219 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.85sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 2.86sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.88sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Received new action goal ×2 + 2.88sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3).[0m ×2 + 3.36sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Canceling active goal... ×2 + 3.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1789160000.08500767 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.94sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.94sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789160000.67282486 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789160000.79294991 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
+ 4.70sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789160001.44219875 seconds. ×3 + 4.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.97sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3).[0m ×2 + 2.32sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Got request to cancel active goal. ×2 + 2.32sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Canceling active goal... ×2 + 2.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1789160000.08500767 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_node ×4 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789160000.67282486 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789160000.79294991 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789160001.44219875 seconds. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3).[0m ×2 + 2.32sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Got request to cancel active goal. ×2 + 2.32sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Canceling active goal... ×2 + 2.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1789160000.08500767 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_node ×4 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789160000.67282486 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789160000.79294991 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789160001.44219875 seconds. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3).[0m ×2 + 2.32sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Got request to cancel active goal. ×2 + 2.32sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Canceling active goal... ×2 + 2.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1789160000.08500767 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_node ×4 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789160000.67282486 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789160000.79294991 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789160001.44219875 seconds. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226015 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039355 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-09-11 20:53:19.574] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733719 ms (missed cycles : 3).[0m ×2 + 2.32sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Got request to cancel active goal. ×2 + 2.32sINFOros2_control_node[2026-09-11 20:53:20.056] [info] Canceling active goal... ×2 + 2.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1789160000.08500767 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_node ×4 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789160000.67282486 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789160000.79294991 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455081 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789160001.44219875 seconds. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-11 20:53:21.666] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693684 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919618 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 21 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6).[0m ×2 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789160020.73679066 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_node ×4 + 2.87sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789160021.35546803 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789160021.43559265 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789160022.05701995 seconds. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.71sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 21 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6).[0m ×2 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789160020.73679066 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_node ×4 + 2.87sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789160021.35546803 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789160021.43559265 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789160022.05701995 seconds. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.71sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 21 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6).[0m ×2 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789160020.73679066 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_node ×4 + 2.87sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789160021.35546803 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789160021.43559265 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789160022.05701995 seconds. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.71sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 21 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402603 ms (missed cycles : 6).[0m ×2 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.97sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-09-11 20:53:39.450] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752398 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768243 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789160020.73679066 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_node ×4 + 2.87sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789160021.35546803 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789160021.43559265 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298908 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
+ 3.52sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789160022.05701995 seconds. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.71sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 20:53:42.191] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889562 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973540 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820498 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442654 ms (missed cycles : 4).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-11 20:53:50.261] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049969 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539474 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-09-11 20:53:52.601] [info] Accepted new action goal ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-11 20:53:52.647] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1789160032.66274834 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891273 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789160033.37751365 seconds. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 20:53:53.582] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.467349 ms (missed cycles : 7).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472863 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 18 warnings · 100 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOros2_control_node[2026-09-11 20:54:11.319] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-11 20:54:11.319] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.842122 ms (missed cycles : 6). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.842122 ms (missed cycles : 6).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 2.80% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759633 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759633 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (2.03e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (2.02e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.050295 ms (missed cycles : 7). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.050295 ms (missed cycles : 7).[0m ×2 + 2.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 2.87sINFOobjective_server_nodeFound path in 5 iterations (0.00626563 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 3.00sINFOros2_control_node[2026-09-11 20:54:14.010] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-09-11 20:54:14.010] [info] Accepted new action goal ×2 + 3.39sINFOros2_control_node[2026-09-11 20:54:14.402] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-11 20:54:14.402] [info] Accepted new action goal ×2 + 3.63sINFOros2_control_node[2026-09-11 20:54:14.642] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-09-11 20:54:14.642] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1789160054.65362978 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814436 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814436 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 4.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.20sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 4.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.20sINFOobjective_server_node ×2 + 4.31sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789160055.32089758 seconds. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-09-11 20:54:15.505] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-09-11 20:54:15.505] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675866 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675866 ms (missed cycles : 2).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.982519 ms (missed cycles : 8). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.982519 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 18 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789160068.05813718 seconds. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 0.18sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789160070.19826531 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112286 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112286 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845017 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845017 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Find Objects on Table"
objective_xml_string: ""
parameter_overrides: []
+ 3.77sINFOobjective_server_nodeobjective_name: "ML Find Objects on Table" ×2 + 3.83sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1789160071.83995628 seconds. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.00sINFOros2_control_node[2026-09-11 20:54:32.004] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-11 20:54:32.004] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798640 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798640 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887905 ms (missed cycles : 6). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887905 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 18 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789160068.05813718 seconds. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 0.18sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-11 20:54:28.189] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703061 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267184 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789160070.19826531 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112286 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112286 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845017 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845017 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Find Objects on Table"
objective_xml_string: ""
parameter_overrides: []
+ 3.77sINFOobjective_server_nodeobjective_name: "ML Find Objects on Table" ×2 + 3.83sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1789160071.83995628 seconds. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.00sINFOros2_control_node[2026-09-11 20:54:32.004] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-11 20:54:32.004] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798640 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798640 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887905 ms (missed cycles : 6). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887905 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 21 warnings · 96 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Segment Bottles from File"
objective_xml_string: ""
parameter_overrides: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "ML Segment Bottles from File" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1789160081.82819748 seconds. ×3 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16).[0m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574029163 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574059685 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271747191 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271776904 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-09-11 20:54:43.442214541 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445575607 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445598273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-09-11 20:54:43.885575700 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914082281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914112162 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1789160085.38491511 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
+ 4.30sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 4.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789160086.11986923 seconds. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.50sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 21 warnings · 96 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "ML Segment Bottles from File"
objective_xml_string: ""
parameter_overrides: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "ML Segment Bottles from File" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1789160081.82819748 seconds. ×3 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 26.467622 ms (missed cycles : 16).[0m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574029163 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.86sINFOobjective_server_node[0;93m2026-09-11 20:54:42.574059685 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467899 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271747191 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-09-11 20:54:43.271776904 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-09-11 20:54:43.442214541 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445575607 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-09-11 20:54:43.445598273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-09-11 20:54:43.885575700 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914082281 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.20sINFOobjective_server_node[0;93m2026-09-11 20:54:43.914112162 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.693709 ms (missed cycles : 6).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247597 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1789160085.38491511 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
+ 4.30sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 4.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789160086.11986923 seconds. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425371 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.50sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-09-11 20:54:46.571] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746910 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988007 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 21 warnings · 102 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383327 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383327 ms (missed cycles : 4).[0m ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.14sINFOros2_control_node[2026-09-11 20:55:35.862] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-09-11 20:55:35.862] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930324 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930324 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401398 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401398 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285018 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285018 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789160139.46707082 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.205318 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.205318 ms (missed cycles : 6).[0m ×2 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
+ 4.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.37sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 4.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.37sINFOobjective_server_node ×2 + 4.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789160140.16642356 seconds. ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.62sINFOros2_control_node[2026-09-11 20:55:40.340] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-09-11 20:55:40.340] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521942 ms (missed cycles : 7). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521942 ms (missed cycles : 7).[0m ×2 + 5.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.91sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544006 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544006 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 18 warnings · 2279 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×368 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×368 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×736 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×736 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225577 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225577 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537518 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537518 ms (missed cycles : 2).[0m ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844313 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844313 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1789160236.84337163 seconds ×3 + 3.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881285 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881285 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick 1 Pill Bottle with SAM3"
objective_xml_string: ""
parameter_overrides: []
+ 4.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.37sINFOobjective_server_nodeobjective_name: "Pick 1 Pill Bottle with SAM3" ×2 + 4.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.37sINFOobjective_server_node ×2 + 4.48sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1789160237.51385784 seconds. ×3 + 4.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOobjective_server_nodeFound path in 5 iterations (0.00643372 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-09-11 20:57:17.820] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-09-11 20:57:17.820] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525251 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525251 ms (missed cycles : 2).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144821 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144821 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 18 warnings · 93 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 0.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 18 warnings · 93 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 0.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 18 warnings · 93 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 0.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 18 warnings · 93 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 0.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 18 warnings · 93 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 0.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 18 warnings · 93 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 0.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 18 warnings · 93 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 0.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 18 warnings · 93 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 0.42sINFOobjective_server_nodeFound path in 5 iterations (0.0055374 s). ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.101499 ms (missed cycles : 13).[0m ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 0.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-11 20:57:56.798] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.800246 ms (missed cycles : 8).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759209 ms (missed cycles : 6).[0m ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Received new action goal ×2 + 2.75sINFOros2_control_node[2026-09-11 20:57:59.039] [info] Accepted new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-11 20:57:59.551] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1789160279.57046986 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577007 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789160280.30292511 seconds. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 20:58:00.438] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875010 ms (missed cycles : 7).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516346 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 21 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283287 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283287 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555432 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555432 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513630 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513630 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804262 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804262 ms (missed cycles : 2).[0m ×2 + 3.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1789160290.55330300 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.00sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 4.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.00sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789160291.14676046 seconds. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758611 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758611 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.43sINFOros2_control_node[2026-09-11 20:58:11.531] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-09-11 20:58:11.531] [info] Accepted new action goal ×2 + 4.59sINFOros2_control_nodeMuJoCo sim: 3.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.768700 ms (missed cycles : 8). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.768700 ms (missed cycles : 8).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339561 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 21 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2).[0m ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1789160312.05166793 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.72sINFOobjective_server_node ×6 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789160312.70347881 seconds. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789160312.81360722 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
+ 4.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789160313.41662169 seconds. ×3 + 4.51sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789160313.43934131 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789160314.08561349 seconds. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4).[0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.33sINFOros2_control_node[2026-09-11 20:58:34.245] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-11 20:58:34.246] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 21 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2).[0m ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1789160312.05166793 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.72sINFOobjective_server_node ×6 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789160312.70347881 seconds. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789160312.81360722 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
+ 4.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789160313.41662169 seconds. ×3 + 4.51sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789160313.43934131 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789160314.08561349 seconds. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4).[0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.33sINFOros2_control_node[2026-09-11 20:58:34.245] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-11 20:58:34.246] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 21 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2).[0m ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1789160312.05166793 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.72sINFOobjective_server_node ×6 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789160312.70347881 seconds. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789160312.81360722 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
+ 4.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789160313.41662169 seconds. ×3 + 4.51sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789160313.43934131 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789160314.08561349 seconds. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4).[0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.33sINFOros2_control_node[2026-09-11 20:58:34.245] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-11 20:58:34.246] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 21 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996913 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2).[0m ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1789160312.05166793 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.72sINFOobjective_server_node ×6 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789160312.70347881 seconds. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789160312.81360722 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
+ 4.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789160313.41662169 seconds. ×3 + 4.51sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789160313.43934131 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789160314.08561349 seconds. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4).[0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.33sINFOros2_control_node[2026-09-11 20:58:34.245] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-11 20:58:34.246] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 21 warnings · 164 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2).[0m ×2 + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1789160312.05166793 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.71sINFOobjective_server_node ×6 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789160312.70347881 seconds. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789160312.81360722 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
+ 3.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789160313.41662169 seconds. ×3 + 3.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789160313.43934131 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
+ 4.07sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789160314.08561349 seconds. ×3 + 4.16sINFOobjective_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 5.858516 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.31sINFOros2_control_node[2026-09-11 20:58:34.245] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-09-11 20:58:34.246] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638633 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638633 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 21 warnings · 164 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039672 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288434 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932738 ms (missed cycles : 2).[0m ×2 + 2.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1789160312.05166793 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.71sINFOobjective_server_node ×6 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789160312.70347881 seconds. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789160312.81360722 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961530 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
+ 3.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789160313.41662169 seconds. ×3 + 3.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789160313.43934131 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
+ 4.07sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789160314.08561349 seconds. ×3 + 4.16sINFOobjective_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 5.858516 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858516 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.31sINFOros2_control_node[2026-09-11 20:58:34.245] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-09-11 20:58:34.246] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238920 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638633 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638633 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 21 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029979 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029979 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745915 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745915 ms (missed cycles : 6).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.863912 ms (missed cycles : 8). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.863912 ms (missed cycles : 8).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4).[0m ×2 + 3.20sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Canceling active goal... ×2 + 3.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1789160324.55065274 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160325.21460509 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160327.19473195 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 21 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029979 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029979 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745915 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745915 ms (missed cycles : 6).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.863912 ms (missed cycles : 8). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.863912 ms (missed cycles : 8).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435847 ms (missed cycles : 4).[0m ×2 + 3.20sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-11 20:58:44.545] [info] Canceling active goal... ×2 + 3.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1789160324.55065274 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789160325.21460509 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984514 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667619 ms (missed cycles : 8).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789160327.19473195 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917396 ms (missed cycles : 5).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.0s | 45 warnings · 638 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-11-20-52-55-426221-638daf367120-9560 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.62sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.64sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.64sINFOcontroller_managerupdate rate is 600 Hz + 1.64sINFOcontroller_managerOverruns handling is : enabled + 1.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.64sWARNcontroller_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. + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963621 ms (missed cycles : 2). + 1.80sINFOros2_control_node-1process started with pid [9608] ×2 + 1.80sINFOmove_group-9process started with pid [9645] ×2 + 1.80sINFOparameter_manager_node-10process started with pid [9646] ×2 + 1.80sINFOwaypoint_manager_node-11process started with pid [9647] ×2 + 1.80sINFOmove_joint_resampler_node-12process started with pid [9648] ×2 + 1.80sINFOmove_end_effector_resampler_node-13process started with pid [9649] ×2 + 1.80sINFOobjective_server_node_main-14process started with pid [9650] ×2 + 1.80sINFOcomponent_container_mt-15process started with pid [9651] ×2 + 1.80sINFOcomponent_container_mt-16process started with pid [9652] ×2 + 1.80sINFOexecute_objective_bridge-17process started with pid [9653] ×2 + 1.80sINFOui_teleop_bridge-18process started with pid [9654] ×2 + 1.80sINFOweb_bridge-19process started with pid [9655] ×2 + 1.80sINFOtf2_web_republisher_node-20process started with pid [9770] ×2 + 1.80sINFOweb_video_server-21process started with pid [9771] ×2 + 1.81sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.81sINFOros2-2process started with pid [9609] ×2 + 1.81sINFOros2-3process started with pid [9610] ×2 + 1.81sINFOros2-4process started with pid [9611] ×2 + 1.81sINFOros2-5process started with pid [9612] ×2 + 1.81sINFOros2-6process started with pid [9613] ×2 + 1.81sINFOros2-7process started with pid [9614] ×2 + 1.81sINFOros2-8process started with pid [9615] ×2 + 1.82sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.82sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.82sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.82sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.82sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.82sWARNros2_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 + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963621 ms (missed cycles : 2).[0m ×2 + 1.86sINFOcontroller_managerReceived robot description from topic. + 1.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.90sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.90sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836049 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836049 ms (missed cycles : 2).[0m ×2 + 3.16sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.17sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.17sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.18sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.18sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.74sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863428 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863428 ms (missed cycles : 5).[0m ×2 + 4.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.87sINFOobjective_server_node[2026-09-11 20:53:01.033] [moveit_pro_license] [info] ×2 + 4.87sINFOobjective_server_node************************************************* ×4 + 4.87sINFOobjective_server_node* MoveIt Pro License ×2 + 4.87sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.37sINFOobjective_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 + 5.37sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.38sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.38sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.38sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.38sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.38sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.38sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.38sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.38sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.50sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.50sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.51sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.51sWARNros2_control_node16 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 + 5.51sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.51sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.51sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.51sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.51sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.51sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.51sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.51sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.51sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.51sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.51sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.51sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.51sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.51sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.51sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.51sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.51sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.51sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.51sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.51sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.51sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.51sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.51sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.51sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.51sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.51sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.51sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.57sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.57sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.75sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.75sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.75sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.87sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 5.87sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 5.88sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.89sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.89sINFOros2_control_node[2026-09-11 20:53:02.047] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.89sINFOros2_control_node[2026-09-11 20:53:02.047] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.91sINFOros2_control_node[2026-09-11 20:53:02.071] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.91sINFOros2_control_node[2026-09-11 20:53:02.071] [info] Controller state will be published at 50 Hz. ×2 + 5.92sINFOros2_control_node[2026-09-11 20:53:02.078] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900114 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900114 ms (missed cycles : 2).[0m ×2 + 6.21sINFOros2-6process has finished cleanly [pid 9613] ×2 + 6.21sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.21sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.22sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.22sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.22sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 6.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 6.26sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.26sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.26sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.26sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.26sINFOforce_torque_sensor_broadcasterconfigure successful + 6.27sINFOros2_control_nodeconfigure successful[0m ×2 + 6.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.28sINFOcontroller_managerSuccessfully switched controllers! ×14 + 6.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 6.29sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.29sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.32sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 6.39sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 6.40sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 6.45sWARNobjective_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 + 6.47sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 6.47sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 6.47sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 6.47sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 6.47sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 6.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 6.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 6.58sINFOros2-2process has finished cleanly [pid 9609] ×2 + 6.59sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 6.59sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.60sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.60sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 6.60sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 6.66sINFOmove_group ×4 + 6.66sINFOmove_group[92mYou can start planning now![0m ×2 + 6.67sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.67sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.67sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.67sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.67sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.68sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.68sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 6.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.69sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.69sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.01sINFOros2-5process has finished cleanly [pid 9612] ×2 + 7.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 7.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 7.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.14sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.16sINFOros2_control_node[2026-09-11 20:53:03.322] [info] Controller state will be published at 10 Hz. ×2 + 7.16sINFOros2_control_node[2026-09-11 20:53:03.323] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.44sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.44sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.44sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.44sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.46sINFOros2-7process has finished cleanly [pid 9614] ×2 + 7.52sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 7.52sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 7.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 7.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.60sINFOros2_control_node[2026-09-11 20:53:03.755] [info] Controller state will be published at 20 Hz. ×2 + 7.60sINFOros2_control_node[2026-09-11 20:53:03.756] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7).[0m ×2 + 7.92sINFOros2-8process has finished cleanly [pid 9615] ×2 + 7.92sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.92sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.92sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.93sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 7.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 7.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 8.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 8.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 8.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 8.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 8.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 8.19sINFOobjective_server_node ×8 + 8.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789159984.39311862 seconds. ×3 + 8.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789159984.40332627 seconds ×3 + 8.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.29sINFOros2-3process has finished cleanly [pid 9610] ×2 + 8.31sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.31sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.31sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.31sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.32sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 8.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 8.36sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.36sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.36sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.36sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.36sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 8.36sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 8.36sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 8.36sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.36sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 8.36sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 8.36sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 8.37sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.37sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.37sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.37sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.68sINFOros2-4process has finished cleanly [pid 9611] ×2 + 8.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 8.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 8.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 8.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 9.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 10.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 10.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 10.51sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 10.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 11.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 11.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 11.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 11.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 36 warnings · 387 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7).[0m ×2 + 0.01sINFOros2-8process has finished cleanly [pid 9615] ×2 + 0.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.02sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.03sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.28sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.28sINFOobjective_server_node ×14 + 0.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789159984.39311862 seconds. ×3 + 0.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789159984.40332627 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.38sINFOros2-3process has finished cleanly [pid 9610] ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.45sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.45sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.45sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.45sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.45sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.45sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.45sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.46sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.76sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 2.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 2.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 3.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.81sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 7.62sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 33 warnings · 450 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-09-11 20:53:03.322] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-11 20:53:03.323] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.30sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.30sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.30sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.30sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.32sINFOros2-7process has finished cleanly [pid 9614] ×2 + 0.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.39sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_node[2026-09-11 20:53:03.755] [info] Controller state will be published at 20 Hz. ×2 + 0.46sINFOros2_control_node[2026-09-11 20:53:03.756] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7).[0m ×2 + 0.79sINFOros2-8process has finished cleanly [pid 9615] ×2 + 0.79sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.79sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.79sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.79sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.80sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.80sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.83sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.83sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.83sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.83sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.84sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.05sINFOobjective_server_node ×14 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789159984.39311862 seconds. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789159984.40332627 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOros2-3process has finished cleanly [pid 9610] ×2 + 1.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.22sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.22sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.22sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.23sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.23sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.23sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.54sINFOros2-4process has finished cleanly [pid 9611] ×2 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 3.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 4.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 5.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.59sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 97 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-11-20-52-55-426221-638daf367120-9560 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.62sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.64sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.64sINFOcontroller_managerupdate rate is 600 Hz + 1.64sINFOcontroller_managerOverruns handling is : enabled + 1.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.64sWARNcontroller_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. + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963621 ms (missed cycles : 2). + 1.80sINFOros2_control_node-1process started with pid [9608] ×2 + 1.80sINFOmove_group-9process started with pid [9645] ×2 + 1.80sINFOparameter_manager_node-10process started with pid [9646] ×2 + 1.80sINFOwaypoint_manager_node-11process started with pid [9647] ×2 + 1.80sINFOmove_joint_resampler_node-12process started with pid [9648] ×2 + 1.80sINFOmove_end_effector_resampler_node-13process started with pid [9649] ×2 + 1.80sINFOobjective_server_node_main-14process started with pid [9650] ×2 + 1.80sINFOcomponent_container_mt-15process started with pid [9651] ×2 + 1.80sINFOcomponent_container_mt-16process started with pid [9652] ×2 + 1.80sINFOexecute_objective_bridge-17process started with pid [9653] ×2 + 1.80sINFOui_teleop_bridge-18process started with pid [9654] ×2 + 1.80sINFOweb_bridge-19process started with pid [9655] ×2 + 1.80sINFOtf2_web_republisher_node-20process started with pid [9770] ×2 + 1.80sINFOweb_video_server-21process started with pid [9771] ×2 + 1.81sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.81sINFOros2-2process started with pid [9609] ×2 + 1.81sINFOros2-3process started with pid [9610] ×2 + 1.81sINFOros2-4process started with pid [9611] ×2 + 1.81sINFOros2-5process started with pid [9612] ×2 + 1.81sINFOros2-6process started with pid [9613] ×2 + 1.81sINFOros2-7process started with pid [9614] ×2 + 1.81sINFOros2-8process started with pid [9615] ×2 + 1.82sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.82sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.82sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.82sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.82sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.82sWARNros2_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 + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963621 ms (missed cycles : 2).[0m ×2 + 1.86sINFOcontroller_managerReceived robot description from topic. + 1.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.90sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.90sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 30 warnings · 484 info |
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.11sINFOros2-2process has finished cleanly [pid 9609] ×2 + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group[92mYou can start planning now![0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.22sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 9612] ×2 + 0.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.70sINFOros2_control_node[2026-09-11 20:53:03.322] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-09-11 20:53:03.323] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOros2-7process has finished cleanly [pid 9614] ×2 + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.13sINFOros2_control_node[2026-09-11 20:53:03.755] [info] Controller state will be published at 20 Hz. ×2 + 1.13sINFOros2_control_node[2026-09-11 20:53:03.756] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7).[0m ×2 + 1.45sINFOros2-8process has finished cleanly [pid 9615] ×2 + 1.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 1.72sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.72sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.72sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.72sINFOobjective_server_node ×12 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789159984.39311862 seconds. ×3 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789159984.40332627 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.82sINFOros2-3process has finished cleanly [pid 9610] ×2 + 1.85sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.85sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.89sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.89sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.89sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.21sINFOros2-4process has finished cleanly [pid 9611] ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 2.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 6.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 30 warnings · 484 info |
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.11sINFOros2-2process has finished cleanly [pid 9609] ×2 + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group[92mYou can start planning now![0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.22sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 9612] ×2 + 0.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.70sINFOros2_control_node[2026-09-11 20:53:03.322] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-09-11 20:53:03.323] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOros2-7process has finished cleanly [pid 9614] ×2 + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.13sINFOros2_control_node[2026-09-11 20:53:03.755] [info] Controller state will be published at 20 Hz. ×2 + 1.13sINFOros2_control_node[2026-09-11 20:53:03.756] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7).[0m ×2 + 1.45sINFOros2-8process has finished cleanly [pid 9615] ×2 + 1.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 1.72sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.72sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.72sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.72sINFOobjective_server_node ×12 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789159984.39311862 seconds. ×3 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789159984.40332627 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.82sINFOros2-3process has finished cleanly [pid 9610] ×2 + 1.85sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.85sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.89sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.89sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.89sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.21sINFOros2-4process has finished cleanly [pid 9611] ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 2.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 6.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 30 warnings · 484 info |
+ 0.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.11sINFOros2-2process has finished cleanly [pid 9609] ×2 + 0.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group[92mYou can start planning now![0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.22sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 9612] ×2 + 0.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.70sINFOros2_control_node[2026-09-11 20:53:03.322] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-09-11 20:53:03.323] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOros2-7process has finished cleanly [pid 9614] ×2 + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.13sINFOros2_control_node[2026-09-11 20:53:03.755] [info] Controller state will be published at 20 Hz. ×2 + 1.13sINFOros2_control_node[2026-09-11 20:53:03.756] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7).[0m ×2 + 1.45sINFOros2-8process has finished cleanly [pid 9615] ×2 + 1.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 1.72sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.72sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.72sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.72sINFOobjective_server_node ×12 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789159984.39311862 seconds. ×3 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789159984.40332627 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.82sINFOros2-3process has finished cleanly [pid 9610] ×2 + 1.85sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.85sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.89sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.89sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.89sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.89sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.21sINFOros2-4process has finished cleanly [pid 9611] ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 2.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 5.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 5.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 6.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 6.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 30 warnings · 450 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-09-11 20:53:03.322] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-11 20:53:03.323] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.30sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.30sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.30sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.30sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.32sINFOros2-7process has finished cleanly [pid 9614] ×2 + 0.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.39sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_node[2026-09-11 20:53:03.755] [info] Controller state will be published at 20 Hz. ×2 + 0.46sINFOros2_control_node[2026-09-11 20:53:03.756] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7).[0m ×2 + 0.79sINFOros2-8process has finished cleanly [pid 9615] ×2 + 0.79sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.79sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.79sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.79sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.80sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.80sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.83sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.83sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.83sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.83sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.84sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.05sINFOobjective_server_node ×14 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789159984.39311862 seconds. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789159984.40332627 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOros2-3process has finished cleanly [pid 9610] ×2 + 1.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 1.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 1.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.22sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.22sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.22sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.23sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.23sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.23sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.54sINFOros2-4process has finished cleanly [pid 9611] ×2 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 3.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 4.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 4.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 5.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 5.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.59sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 33 warnings · 385 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280690 ms (missed cycles : 7).[0m ×2 + 0.01sINFOros2-8process has finished cleanly [pid 9615] ×2 + 0.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.02sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.03sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.28sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.28sINFOobjective_server_node ×14 + 0.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789159984.39311862 seconds. ×3 + 0.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789159984.40332627 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.38sINFOros2-3process has finished cleanly [pid 9610] ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 + 0.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cbd94u_ --params-file /tmp/launch_params_17d62bk3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_01k_74no --params-file /tmp/launch_params_aphtypz1 [0m ×2 + 0.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.45sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.45sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.45sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.45sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.45sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.45sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.45sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.46sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.76sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 2.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 2.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 3.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.86sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.81sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[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 · 293 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/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 · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 287 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 9611] ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.13sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789159985.00933242 seconds. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827943 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789159986.06949878 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.739754 ms (missed cycles : 8).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
+ 1.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789159986.67303324 seconds. ×3 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789159986.73322010 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518677 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789159987.44892287 seconds. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789159987.46914935 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789159988.05540562 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789159988.20618582 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188903 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789159988.91353679 seconds. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789159988.95370078 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897485 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
+ 4.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789159989.70602608 seconds. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3203e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-11 20:53:09.882] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146826 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100279 ms (missed cycles : 2).[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 1.50% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 | ||||