MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.8s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.5s	12 errors · 321 warnings · 1547 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-12-20-52-04-110580-8e0505c88216-7571 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.38sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.38sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.39sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 4.42sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.59sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.63sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.63sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.65sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.69sINFOros2_control_node-12process started with pid [7713] ×2 + 4.69sINFOmove_group-24process started with pid [7742] ×2 + 4.69sINFOparameter_manager_node-25process started with pid [7776] ×2 + 4.69sINFOwaypoint_manager_node-26process started with pid [7777] ×2 + 4.69sINFOmove_joint_resampler_node-27process started with pid [7778] ×2 + 4.69sINFOmove_end_effector_resampler_node-28process started with pid [7779] ×2 + 4.69sINFOcontroller_managerupdate rate is 600 Hz + 4.69sINFOcontroller_managerOverruns handling is : enabled + 4.69sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.69sINFOobjective_server_node_main-29process started with pid [7780] ×2 + 4.69sINFOcomponent_container_mt-30process started with pid [7781] ×2 + 4.69sINFOcomponent_container_mt-31process started with pid [7782] ×2 + 4.69sINFOexecute_objective_bridge-32process started with pid [7785] ×2 + 4.69sINFOui_teleop_bridge-33process started with pid [7786] ×2 + 4.69sINFOweb_bridge-34process started with pid [7787] ×2 + 4.69sINFOtf2_web_republisher_node-35process started with pid [7791] ×2 + 4.69sINFOvideo_server-36process started with pid [7795] ×2 + 4.69sINFOweb_bridge_auth_proxy-37process started with pid [7796] ×2 + 4.69sINFOweb_video_auth_proxy-38process started with pid [7797] ×2 + 4.70sINFOcomponent_container_isolated-1process started with pid [7621] ×2 + 4.70sINFOcomponent_container_isolated-2process started with pid [7622] ×2 + 4.70sINFOstatic_transform_publisher-3process started with pid [7623] ×2 + 4.70sINFOstatic_transform_publisher-4process started with pid [7624] ×2 + 4.70sINFOodom_qos_relay.py-5process started with pid [7625] ×2 + 4.70sINFOforward_stereo_publisher.py-6process started with pid [7626] ×2 + 4.70sINFOlidar_flattener.py-7process started with pid [7627] ×2 + 4.70sINFOstatic_transform_publisher-8process started with pid [7628] ×2 + 4.70sINFOstatic_transform_publisher-9process started with pid [7629] ×2 + 4.70sINFOscan_to_scan_filter_chain-10process started with pid [7711] ×2 + 4.70sINFOscan_to_scan_filter_chain-11process started with pid [7712] ×2 + 4.70sINFOros2-13process started with pid [7714] ×2 + 4.70sINFOros2-14process started with pid [7715] ×2 + 4.70sINFOros2-15process started with pid [7716] ×2 + 4.70sINFOros2-16process started with pid [7717] ×2 + 4.70sINFOros2-17process started with pid [7718] ×2 + 4.70sINFOros2-18process started with pid [7719] ×2 + 4.70sINFOros2-19process started with pid [7720] ×2 + 4.70sINFOros2-20process started with pid [7721] ×2 + 4.70sINFOros2-21process started with pid [7728] ×2 + 4.70sINFOros2-22process started with pid [7735] ×2 + 4.70sINFOros2-23process started with pid [7737] ×2 + 4.70sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.71sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640967 ms (missed cycles : 3). + 4.72sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.74sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.75sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.75sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.75sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.75sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.75sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.75sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.75sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.75sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.75sINFOcontroller_serverCreating controller server + 4.76sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.76sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.76sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.76sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.76sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.76sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640967 ms (missed cycles : 3).[0m ×2 + 4.84sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.84sINFOlocal_costmap.local_costmapCreating Costmap + 4.85sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.85sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.85sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.90sINFOvideo_server2026/09/12 20:52:10 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.91sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.92sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.93sINFOvideo_server2026/09/12 20:52:10 INF configuration loaded from /tmp/moveit-webrtc-gm6gp4aa/mediamtx.yml ×2 + 4.93sINFOvideo_server2026/09/12 20:52:10 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.93sINFOvideo_server2026/09/12 20:52:10 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.93sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.97sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.97sINFOmap_serverCreating + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.98sINFOsmoother_serverCreating smoother server + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.99sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.01sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.01sINFOrobot_state_publisherRobot initialized + 5.01sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.02sINFOcontroller_managerReceived robot description from topic. + 5.02sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.02sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.02sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.03sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.06sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.06sINFOplanner_serverCreating + 5.06sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.07sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.07sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.07sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.08sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.08sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.10sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.11sINFOglobal_costmap.global_costmapCreating Costmap + 5.11sINFOlifecycle_manager_localizationCreating + 5.12sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.14sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.14sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.15sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.15sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.15sINFOmap_serverConfiguring + 5.17sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.21sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.21sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.25sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.25sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.26sINFOamclConfiguring + 5.26sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.26sINFOmap_serverActivating + 5.27sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.27sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.27sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.27sINFObt_navigatorCreating + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.28sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.29sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.31sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.32sINFOwaypoint_followerCreating + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.36sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.406943 seconds + 5.36sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.36sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.36sINFOmove_groupLoaded robot model in 0.406943 seconds[0m ×2 + 5.36sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.36sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.37sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.38sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.38sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.38sINFOamclActivating + 5.39sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.39sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.41sINFOamclSubscribed to map_topic: /map + 5.42sINFOamclSubscribed to scan_topic: /scan_merged + 5.42sINFOamclCreated reinitialize_global_localization service + 5.42sINFOlifecycle_manager_navigationCreating + 5.42sINFOamclCreated request_nomotion_update service + 5.42sINFOamclA new map was received + 5.42sINFOamclInitializing particle filter instance + 5.44sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.47sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.47sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.47sINFOcontroller_serverConfiguring controller interface + 5.47sINFOcontroller_servergetting progress checker plugins.. + 5.47sINFOcontroller_servergetting goal checker plugins.. + 5.47sINFOcontroller_serverController frequency set to 20.0000Hz + 5.47sINFOlocal_costmap.local_costmapConfiguring + 5.49sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.49sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.49sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.52sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.55sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.57sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.58sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.59sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.60sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.66sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.67sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.68sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.69sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.70sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.73sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.75sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.75sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.77sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.77sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.77sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.77sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.80sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.80sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.83sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.83sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.84sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.86sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.86sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.87sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.87sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.88sINFOcontroller_serverOptimizer reset ×2 + 5.91sINFOcontroller_serverController Server has FollowPath controllers available. + 5.93sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.93sINFOsmoother_serverConfiguring smoother server + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651417 ms (missed cycles : 2). + 5.94sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.94sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651417 ms (missed cycles : 2).[0m ×2 + 5.97sINFOamclParticle filter initialization completed + 5.97sINFOamclInitializing particles from estimated pose and covariance + 5.97sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.97sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.97sINFOplanner_serverConfiguring + 5.98sINFOglobal_costmap.global_costmapConfiguring + 5.99sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.00sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.00sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.00sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.00sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.00sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.00sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.01sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.03sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.03sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.03sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.05sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.05sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.05sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.05sINFOplanner_serverPlanner Server has GridBased planners available. + 6.07sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.07sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.08sINFObehavior_serverConfiguring + 6.08sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.08sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.09sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.10sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.10sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.11sINFObehavior_serverConfiguring spin + 6.13sINFObehavior_serverConfiguring backup + 6.14sINFObehavior_serverConfiguring drive_on_heading + 6.16sINFObehavior_serverConfiguring assisted_teleop + 6.20sINFObehavior_serverConfiguring wait + 6.21sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.21sINFObt_navigatorConfiguring + 6.21sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.23sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.23sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.23sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.42sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.44sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.44sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.44sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.44sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.44sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.44sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.46sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.46sINFOwaypoint_followerConfiguring + 6.48sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.48sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.48sINFOvelocity_smootherConfiguring velocity smoother + 6.49sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.49sINFOcontroller_serverActivating + 6.49sINFOlocal_costmap.local_costmapActivating + 6.49sINFOlocal_costmap.local_costmapChecking transform + 6.49sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×10 + 6.56sINFOwaypoint_manager_nodeLoaded robot model in 0.374614 seconds[0m ×2 + 6.56sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.56sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.80sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.80sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.80sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.80sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.83sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.83sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.84sINFOmove_group[2026-09-12 20:52:12.712] [moveit_pro_license] [info] ×2 + 6.84sINFOmove_group************************************************* ×4 + 6.84sINFOmove_group* MoveIt Pro License ×2 + 6.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.02sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.03sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.03sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.03sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.03sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.03sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.03sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.03sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.03sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.03sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.04sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.04sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.04sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.04sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.04sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.04sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.04sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386655 ms (missed cycles : 3). + 7.05sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.05sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386655 ms (missed cycles : 3).[0m ×2 + 7.05sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.05sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.05sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.05sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.06sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.06sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.06sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.06sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.06sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.06sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.07sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.07sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.08sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.08sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.08sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.08sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.30sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.30sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.30sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.30sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.31sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.31sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.31sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.31sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.31sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.31sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.31sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.31sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.31sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.32sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.32sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.32sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.32sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.32sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.32sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.32sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.32sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.35sINFOwaypoint_manager_node[2026-09-12 20:52:13.224] [moveit_pro_license] [info] ×2 + 7.35sINFOwaypoint_manager_node************************************************* ×4 + 7.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.69sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.69sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.69sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.69sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.69sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.69sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.69sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.69sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.69sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.69sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.69sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.69sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.69sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.69sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.69sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.69sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.69sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.69sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.69sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.69sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.69sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.69sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.69sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.69sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.69sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.69sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.69sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.69sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.69sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.69sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.69sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.69sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.69sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.69sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.70sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.74sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.74sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 7.74sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.74sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 7.79sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.79sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.80sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.88sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 7.88sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 7.97sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 7.97sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 7.97sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 7.97sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 7.98sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.98sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.99sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.02sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.04sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.04sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.05sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.05sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.05sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.05sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.05sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.05sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.24sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.24sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.26sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.26sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.27sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.30sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 8.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 8.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.33sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.35sINFOobjective_server_node[2026-09-12 20:52:14.227] [moveit_pro_license] [info] ×2 + 8.35sINFOobjective_server_node************************************************* ×4 + 8.35sINFOobjective_server_node* MoveIt Pro License ×2 + 8.35sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.43sINFOobjective_server_nodeLoaded robot model in 0.0272812 seconds[0m ×2 + 8.43sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.43sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.48sINFOros2_control_node[2026-09-12 20:52:14.358] [info] Controller state will be published at 20 Hz. ×2 + 8.48sINFOros2_control_node[2026-09-12 20:52:14.359] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.50sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.52sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.54sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.82sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.82sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 8.82sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.82sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 8.83sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 8.83sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 8.88sINFOros2-23process has finished cleanly [pid 7737] ×2 + 8.89sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.89sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.89sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.89sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.89sINFOplatform_velocity_controllerconfigure successful + 8.89sINFOros2_control_nodeconfigure successful[0m ×6 + 8.90sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.90sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.90sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.90sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.90sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 8.97sINFOcomponent_container_mtLoaded robot model in 0.435565 seconds[0m ×2 + 8.98sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.98sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.00sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 9.00sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.07sINFOobjective_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 + 9.07sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.09sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.09sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.09sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.09sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.09sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.09sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.09sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.13sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.13sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.22sINFOmove_groupMoveGroup debug mode is ON + 9.22sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.23sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.28sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.29sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 9.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 9.31sINFOros2-16process has finished cleanly [pid 7717] ×2 + 9.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.36sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.36sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.36sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.36sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051022 ms (missed cycles : 4). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051022 ms (missed cycles : 4).[0m ×2 + 9.44sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 9.44sINFOmove_group ×8 + 9.44sINFOmove_group****************************************************** ×4 + 9.44sINFOmove_group* MoveGroup using: ×2 + 9.44sINFOmove_group* - apply_planning_scene_service ×2 + 9.44sINFOmove_group* - clear_octomap_service ×2 + 9.44sINFOmove_group* - get_group_urdf ×2 + 9.44sINFOmove_group* - load_geometry_from_file ×2 + 9.44sINFOmove_group* - get_planning_scene_service ×2 + 9.44sINFOmove_group* - kinematics_service ×2 + 9.44sINFOmove_group* - save_geometry_to_file ×2 + 9.44sINFOmove_group* - GetPlanningGroups ×2 + 9.44sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.44sINFOmove_group[0m ×2 + 9.44sINFOmove_group[92mYou can start planning now![0m ×2 + 9.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.85sINFOcomponent_container_mt[2026-09-12 20:52:15.724] [moveit_pro_license] [info] ×2 + 9.85sINFOcomponent_container_mt************************************************* ×4 + 9.85sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.85sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.88sINFOros2_control_node[2026-09-12 20:52:15.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.88sWARNros2_control_nodeCamera render tick took 1.03 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.89sINFOros2_control_node[2026-09-12 20:52:15.761] [info] Controller state will be published at 10 Hz. ×2 + 9.89sINFOros2_control_node[2026-09-12 20:52:15.763] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.92sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.92sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.92sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.92sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.19sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.20sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.20sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.23sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.23sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 10.23sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.23sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 10.23sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.23sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 10.27sINFOros2-20process has finished cleanly [pid 7721] ×2 + 10.29sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 10.29sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 10.29sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 10.29sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 10.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140003 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140003 ms (missed cycles : 3).[0m ×2 + 10.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×2 + 10.81sINFOros2_control_node[2026-09-12 20:52:16.685] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.81sINFOros2_control_node[2026-09-12 20:52:16.687] [info] Controller state will be published at 10 Hz. ×2 + 10.81sINFOros2_control_node[2026-09-12 20:52:16.689] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.94sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789246334.726 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 11.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 11.18sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.18sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.18sINFOros2-21process has finished cleanly [pid 7728] ×2 + 11.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.20sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.20sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 11.40sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 11.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552968 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552968 ms (missed cycles : 2).[0m ×2 + 11.49sINFOlocal_costmap.local_costmapstart + 11.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 11.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 11.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 11.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 11.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 11.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 11.59sINFOros2-15process has finished cleanly [pid 7716] ×2 + 11.59sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 11.59sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 11.60sWARNcontroller_serverParameter controller_server.verbose not found + 11.60sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 11.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 11.63sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 11.63sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 11.63sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 11.63sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 11.63sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 11.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 11.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 11.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 11.71sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.71sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.71sINFOsmoother_serverActivating + 11.71sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.81sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.81sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.81sINFOplanner_serverActivating + 11.81sINFOglobal_costmap.global_costmapActivating + 11.81sINFOglobal_costmap.global_costmapChecking transform + 11.81sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 11.94sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.94sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.94sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.94sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.94sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 11.94sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 12.00sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.00sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.00sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.00sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.01sINFOros2-17process has finished cleanly [pid 7718] ×2 + 12.01sINFOplatform_velocity_controller_nav2configure successful + 12.06sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789246337.039 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.34sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.34sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.34sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.34sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 12.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 12.40sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.40sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.40sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.41sINFOforce_torque_sensor_broadcasterconfigure successful + 12.41sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.41sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.41sINFOros2-18process has finished cleanly [pid 7719] ×2 + 12.42sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 12.42sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.45sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 5.274ms + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002052 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002052 ms (missed cycles : 2).[0m ×2 + 12.73sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.73sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.73sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.73sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.73sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 12.74sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 12.78sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.78sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.79sINFOros2-13process has finished cleanly [pid 7714] ×2 + 12.80sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.80sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.80sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.80sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.80sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.81sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.81sINFOglobal_costmap.global_costmapstart + 13.11sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.11sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.11sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.12sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 13.12sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 13.17sINFOros2-14process has finished cleanly [pid 7715] ×2 + 13.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.22sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479649 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479649 ms (missed cycles : 2).[0m ×2 + 13.52sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.52sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 13.52sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.52sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 + 13.52sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 13.52sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tpfw32nr --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_e4c57gmy --params-file /tmp/launch_params_rb0gv5t6 [0m ×2 + 13.57sINFOros2-19process has finished cleanly [pid 7720] ×2 + 13.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 13.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 13.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 13.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 13.86sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.86sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.97sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.97sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.97sINFObehavior_serverActivating + 13.97sINFObehavior_serverActivating spin + 13.97sINFObehavior_serverActivating backup + 13.97sINFObehavior_serverActivating drive_on_heading + 13.97sINFObehavior_serverActivating assisted_teleop + 13.97sINFObehavior_serverActivating wait + 13.97sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.08sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.08sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.08sINFObt_navigatorActivating + 14.12sINFOros2_control_node[2026-09-12 20:52:19.992] [info] Controller state will be published at 20 Hz. ×2 + 14.12sINFOros2_control_node[2026-09-12 20:52:19.994] [info] JointVelocityController 'on_configure' succeeded. ×2 + 14.16sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 14.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 14.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.21sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.27sINFOwaypoint_followerActivating + 14.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.37sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.37sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.37sINFOvelocity_smootherActivating + 14.37sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.48sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.48sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.48sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.49sINFOros2-22process has finished cleanly [pid 7735] ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856073 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856073 ms (missed cycles : 3).[0m ×2 + 15.44sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272302 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272302 ms (missed cycles : 3).[0m ×2 + 16.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 17.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 19.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.29sINFOobjective_server_nodecaller: ×10 + 19.29sINFOobjective_server_nodetype: 0 ×10 + 19.29sINFOobjective_server_nodename: "" ×10 + 19.29sINFOobjective_server_nodeinstance_id: "" ×10 + 19.29sINFOobjective_server_node ×10 + 19.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 19.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 19.33sINFOmove_groupClearing octomap...[0m ×4 + 19.33sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 19.33sINFOmove_groupOctomap cleared.[0m ×4 + 19.33sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 19.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 19.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 20.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.52sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 21.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 21.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.28sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 21.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 21.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 21.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 21.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 21.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.4s	3 errors · 290 warnings · 257 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.355ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785955 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785955 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.456ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.131ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731922 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731922 ms (missed cycles : 3).[0m ×2 + 1.65sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 9.446ms + 2.20sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 3.718ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138617 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138617 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 2.73sINFOjoint_trajectory_controllerGot request to cancel goal + 2.73sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.73sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.74sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246557.00156260 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789246557.59208560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372318 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372318 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.339ms + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149528 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149528 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067205 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067205 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.75sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.75sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.78sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362699 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362699 ms (missed cycles : 3).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335645 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335645 ms (missed cycles : 3).[0m ×2 + 8.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.267ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092239 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092239 ms (missed cycles : 3).[0m ×2 + 9.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.799ms + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069112 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069112 ms (missed cycles : 2).[0m ×2 + 9.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.601ms + 10.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.615ms + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179802 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179802 ms (missed cycles : 3).[0m ×2 + 10.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 6.914ms + 11.37sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 4.197ms + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453164 ms (missed cycles : 3). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453164 ms (missed cycles : 3).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 2.536ms + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 12.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303398 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303398 ms (missed cycles : 2).[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 13.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188767 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188767 ms (missed cycles : 2).[0m ×2 + 14.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901931 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901931 ms (missed cycles : 3).[0m ×2 + 15.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 16.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 16.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827770 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827770 ms (missed cycles : 2).[0m ×2 + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 17.14sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781279 ms (missed cycles : 3). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781279 ms (missed cycles : 3).[0m ×2 + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452008 ms (missed cycles : 2). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452008 ms (missed cycles : 2).[0m ×2 + 18.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 19.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 19.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610020 ms (missed cycles : 3). + 19.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610020 ms (missed cycles : 3).[0m ×2 + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 20.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166821 ms (missed cycles : 2). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166821 ms (missed cycles : 2).[0m ×2 + 21.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms ×2 + 21.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843209 ms (missed cycles : 3). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843209 ms (missed cycles : 3).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 22.61sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777739 ms (missed cycles : 3). + 22.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777739 ms (missed cycles : 3).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212600 ms (missed cycles : 4). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212600 ms (missed cycles : 4).[0m ×2 + 23.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075822 ms (missed cycles : 3). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075822 ms (missed cycles : 3).[0m ×2 + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.124ms + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936545 ms (missed cycles : 2). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936545 ms (missed cycles : 2).[0m ×2 + 25.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076985 ms (missed cycles : 2). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076985 ms (missed cycles : 2).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 27.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103785 ms (missed cycles : 3). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103785 ms (missed cycles : 3).[0m ×2 + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359632 ms (missed cycles : 4). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359632 ms (missed cycles : 4).[0m ×2 + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms + 29.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.995ms + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609319 ms (missed cycles : 2). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609319 ms (missed cycles : 2).[0m ×2 + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 31.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478242 ms (missed cycles : 2). + 31.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478242 ms (missed cycles : 2).[0m ×2 + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 32.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122007 ms (missed cycles : 3). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122007 ms (missed cycles : 3).[0m ×2 + 32.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 33.21sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 33.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899643 ms (missed cycles : 2). + 33.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899643 ms (missed cycles : 2).[0m ×2 + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 34.13sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.13sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481990 ms (missed cycles : 3). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481990 ms (missed cycles : 3).[0m ×2 + 34.56sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.45sINFOobjective_server_nodePlanning for 15 path waypoints. ×6 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552186 ms (missed cycles : 3). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552186 ms (missed cycles : 3).[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779078 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779078 ms (missed cycles : 2).[0m ×2 + 37.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677709 ms (missed cycles : 2). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677709 ms (missed cycles : 2).[0m ×2 + 38.64sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 38.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 38.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161934 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161934 ms (missed cycles : 2).[0m ×2 + 39.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 39.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473665 ms (missed cycles : 2). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473665 ms (missed cycles : 2).[0m ×2 + 39.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 40.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.960778 ms (missed cycles : 6). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.960778 ms (missed cycles : 6).[0m ×2 + 41.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867693 ms (missed cycles : 3). + 41.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867693 ms (missed cycles : 3).[0m ×2 + 42.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916182 ms (missed cycles : 3). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916182 ms (missed cycles : 3).[0m ×2 + 42.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658771 ms (missed cycles : 4). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658771 ms (missed cycles : 4).[0m ×2 + 44.12sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 44.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 44.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192257 ms (missed cycles : 4). + 44.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192257 ms (missed cycles : 4).[0m ×2 + 46.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 46.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685215 ms (missed cycles : 2). + 46.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685215 ms (missed cycles : 2).[0m ×2 + 47.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538758 ms (missed cycles : 4). + 47.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538758 ms (missed cycles : 4).[0m ×2 + 47.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 47.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.011ms + 48.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999932 ms (missed cycles : 2). + 48.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999932 ms (missed cycles : 2).[0m ×2 + 48.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 49.12sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 49.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037592 ms (missed cycles : 4). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037592 ms (missed cycles : 4).[0m ×2 + 50.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797548 ms (missed cycles : 3). + 50.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797548 ms (missed cycles : 3).[0m ×2 + 51.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426597 ms (missed cycles : 5). + 51.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426597 ms (missed cycles : 5).[0m ×2 + 52.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689959 ms (missed cycles : 2). + 52.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689959 ms (missed cycles : 2).[0m ×2 + 53.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 53.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234300 ms (missed cycles : 3). + 53.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234300 ms (missed cycles : 3).[0m ×2 + 54.15sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121330 ms (missed cycles : 2). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121330 ms (missed cycles : 2).[0m ×2 + 55.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727926 ms (missed cycles : 3). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727926 ms (missed cycles : 3).[0m ×2 + 56.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 56.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938898 ms (missed cycles : 3). + 56.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938898 ms (missed cycles : 3).[0m ×2 + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136050 ms (missed cycles : 3). + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136050 ms (missed cycles : 3).[0m ×2 + 57.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.128ms + 58.79sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.077753 ms (missed cycles : 6). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.077753 ms (missed cycles : 6).[0m ×2 + 60.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144594 ms (missed cycles : 4). + 60.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144594 ms (missed cycles : 4).[0m ×2 + 61.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299127 ms (missed cycles : 2). + 61.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299127 ms (missed cycles : 2).[0m ×2 + 62.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629950 ms (missed cycles : 4). + 62.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629950 ms (missed cycles : 4).[0m ×2 + 63.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496439 ms (missed cycles : 2). + 63.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496439 ms (missed cycles : 2).[0m ×2 + 64.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 64.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457730 ms (missed cycles : 4). + 64.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457730 ms (missed cycles : 4).[0m ×2 + 65.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214515 ms (missed cycles : 4). + 65.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214515 ms (missed cycles : 4).[0m ×2 + 65.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.075ms + 66.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234744 ms (missed cycles : 3). + 66.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234744 ms (missed cycles : 3).[0m ×2 + 66.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 67.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875903 ms (missed cycles : 3). + 67.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875903 ms (missed cycles : 3).[0m ×2 + 67.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 68.17sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789246622.41227460 seconds ×3 + 68.23sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.23sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696366 ms (missed cycles : 2). + 68.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696366 ms (missed cycles : 2).[0m ×2 + 68.33sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.33sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.72sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789246622.99342728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.541ms + 69.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258283 ms (missed cycles : 2). + 69.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258283 ms (missed cycles : 2).[0m ×2 + 69.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 70.02sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 70.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045936 ms (missed cycles : 4). + 70.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045936 ms (missed cycles : 4).[0m ×2 + 71.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3). + 71.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	248 warnings · 201 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789246628.86360049 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789246629.45224237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.47sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276811 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276811 ms (missed cycles : 2).[0m ×2 + 8.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159166 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159166 ms (missed cycles : 2).[0m ×2 + 8.81sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 8.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.685ms + 9.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.775ms + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093682 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093682 ms (missed cycles : 3).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.901ms + 10.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.647ms + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697529 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697529 ms (missed cycles : 2).[0m ×2 + 11.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.122ms + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.704ms + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016730 ms (missed cycles : 5). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016730 ms (missed cycles : 5).[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 12.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.449ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843507 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843507 ms (missed cycles : 3).[0m ×2 + 13.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.369ms + 14.02sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 14.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191350 ms (missed cycles : 3). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191350 ms (missed cycles : 3).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.098ms + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225937 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225937 ms (missed cycles : 2).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 4042 particles 723 points - 9.532ms + 15.96sINFOamclParticle filter update iteration stats: 3045 particles 723 points - 5.921ms + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705986 ms (missed cycles : 3). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705986 ms (missed cycles : 3).[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 4.589ms + 17.21sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 3.019ms + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114796 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114796 ms (missed cycles : 2).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 17.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181688 ms (missed cycles : 3). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181688 ms (missed cycles : 3).[0m ×2 + 18.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 19.55sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645643 ms (missed cycles : 3). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645643 ms (missed cycles : 3).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522281 ms (missed cycles : 3). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522281 ms (missed cycles : 3).[0m ×2 + 21.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568385 ms (missed cycles : 3). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568385 ms (missed cycles : 3).[0m ×2 + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.987ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224053 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224053 ms (missed cycles : 2).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500297 ms (missed cycles : 3). + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500297 ms (missed cycles : 3).[0m ×2 + 24.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 24.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767099 ms (missed cycles : 3). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767099 ms (missed cycles : 3).[0m ×2 + 25.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 25.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.195ms + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808269 ms (missed cycles : 3). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808269 ms (missed cycles : 3).[0m ×2 + 26.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms ×2 + 26.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941641 ms (missed cycles : 5). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941641 ms (missed cycles : 5).[0m ×2 + 27.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.127ms + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 28.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004920 ms (missed cycles : 4). + 28.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004920 ms (missed cycles : 4).[0m ×2 + 28.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825923 ms (missed cycles : 2). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825923 ms (missed cycles : 2).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.149ms + 29.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311595 ms (missed cycles : 2). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311595 ms (missed cycles : 2).[0m ×2 + 30.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 31.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523223 ms (missed cycles : 4). + 31.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523223 ms (missed cycles : 4).[0m ×2 + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 32.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542260 ms (missed cycles : 3). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542260 ms (missed cycles : 3).[0m ×2 + 33.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 33.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861687 ms (missed cycles : 2). + 33.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861687 ms (missed cycles : 2).[0m ×2 + 33.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618815 ms (missed cycles : 4). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618815 ms (missed cycles : 4).[0m ×2 + 34.88sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.52sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 35.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099518 ms (missed cycles : 2). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099518 ms (missed cycles : 2).[0m ×2 + 36.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823907 ms (missed cycles : 2). + 36.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823907 ms (missed cycles : 2).[0m ×2 + 37.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043660 ms (missed cycles : 5). + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043660 ms (missed cycles : 5).[0m ×2 + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540733 ms (missed cycles : 3). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540733 ms (missed cycles : 3).[0m ×2 + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868857 ms (missed cycles : 3). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868857 ms (missed cycles : 3).[0m ×2 + 41.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713604 ms (missed cycles : 3). + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713604 ms (missed cycles : 3).[0m ×2 + 41.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802507 ms (missed cycles : 3). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802507 ms (missed cycles : 3).[0m ×2 + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814000 ms (missed cycles : 2). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814000 ms (missed cycles : 2).[0m ×2 + 44.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343236 ms (missed cycles : 2). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343236 ms (missed cycles : 2).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629309 ms (missed cycles : 3). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629309 ms (missed cycles : 3).[0m ×2 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703976 ms (missed cycles : 2). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703976 ms (missed cycles : 2).[0m ×2 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479950 ms (missed cycles : 2). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479950 ms (missed cycles : 2).[0m ×2 + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037391 ms (missed cycles : 2). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037391 ms (missed cycles : 2).[0m ×2 + 49.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031728 ms (missed cycles : 3). + 49.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031728 ms (missed cycles : 3).[0m ×2 + 50.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499202 ms (missed cycles : 4). + 50.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499202 ms (missed cycles : 4).[0m ×2 + 51.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718072 ms (missed cycles : 2). + 51.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718072 ms (missed cycles : 2).[0m ×2 + 52.26sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 52.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 52.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 53.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870057 ms (missed cycles : 3). + 53.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870057 ms (missed cycles : 3).[0m ×2 + 54.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795420 ms (missed cycles : 2). + 54.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795420 ms (missed cycles : 2).[0m ×2 + 55.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124636 ms (missed cycles : 2). + 55.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124636 ms (missed cycles : 2).[0m ×2 + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071573 ms (missed cycles : 2). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071573 ms (missed cycles : 2).[0m ×2 + 56.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 57.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856689 ms (missed cycles : 3). + 57.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856689 ms (missed cycles : 3).[0m ×2 + 58.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290396 ms (missed cycles : 2). + 58.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290396 ms (missed cycles : 2).[0m ×2 + 59.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830749 ms (missed cycles : 3). + 59.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830749 ms (missed cycles : 3).[0m ×2 + 60.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 60.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277355 ms (missed cycles : 2). + 60.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277355 ms (missed cycles : 2).[0m ×2 + 60.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789246686.30373526 seconds ×3 + 60.60sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.60sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 61.00sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 61.00sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 61.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.07sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789246686.89045334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.50sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 61.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.325ms + 61.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067862 ms (missed cycles : 2). + 61.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067862 ms (missed cycles : 2).[0m ×2 + 61.83sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480651 ms (missed cycles : 3). + 62.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480651 ms (missed cycles : 3).[0m ×2 + 63.16sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 63.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 63.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581585 ms (missed cycles : 3). + 63.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581585 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	242 warnings · 206 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144057 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144057 ms (missed cycles : 4).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 1.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554621 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554621 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.107ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789246397.12154531 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654352 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654352 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789246397.70873404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 2.986ms + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 4.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528552 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528552 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269462 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269462 ms (missed cycles : 3).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.27sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.27sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111504 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111504 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700628 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700628 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966385 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966385 ms (missed cycles : 3).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 3.450ms + 9.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 9.39sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 2.855ms + 9.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923117 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923117 ms (missed cycles : 2).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.977ms + 10.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706245 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706245 ms (missed cycles : 3).[0m ×2 + 11.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124913 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124913 ms (missed cycles : 2).[0m ×2 + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.484ms + 12.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867350 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867350 ms (missed cycles : 3).[0m ×2 + 12.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 13.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393120 ms (missed cycles : 4). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393120 ms (missed cycles : 4).[0m ×2 + 14.09sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 14.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099863 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099863 ms (missed cycles : 2).[0m ×2 + 15.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606357 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606357 ms (missed cycles : 2).[0m ×2 + 16.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181888 ms (missed cycles : 4). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181888 ms (missed cycles : 4).[0m ×2 + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518240 ms (missed cycles : 5). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518240 ms (missed cycles : 5).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.283ms + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231237 ms (missed cycles : 3). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231237 ms (missed cycles : 3).[0m ×2 + 19.47sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.205ms + 20.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017545 ms (missed cycles : 4). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017545 ms (missed cycles : 4).[0m ×2 + 20.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242680 ms (missed cycles : 2). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242680 ms (missed cycles : 2).[0m ×2 + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 21.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886750 ms (missed cycles : 3). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886750 ms (missed cycles : 3).[0m ×2 + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 23.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458592 ms (missed cycles : 2). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458592 ms (missed cycles : 2).[0m ×2 + 23.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 24.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470757 ms (missed cycles : 3). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470757 ms (missed cycles : 3).[0m ×2 + 24.92sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333284 ms (missed cycles : 2). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333284 ms (missed cycles : 2).[0m ×2 + 25.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×8 + 25.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865708 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865708 ms (missed cycles : 2).[0m ×2 + 26.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071922 ms (missed cycles : 2). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071922 ms (missed cycles : 2).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.402ms + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642563 ms (missed cycles : 4). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642563 ms (missed cycles : 4).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.375ms + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393399 ms (missed cycles : 2). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393399 ms (missed cycles : 2).[0m ×2 + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.018ms + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649983 ms (missed cycles : 3). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649983 ms (missed cycles : 3).[0m ×2 + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms ×2 + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908606 ms (missed cycles : 3). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908606 ms (missed cycles : 3).[0m ×2 + 32.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768086 ms (missed cycles : 3). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768086 ms (missed cycles : 3).[0m ×2 + 33.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921913 ms (missed cycles : 4). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921913 ms (missed cycles : 4).[0m ×2 + 34.68sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.369ms + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694440 ms (missed cycles : 3). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694440 ms (missed cycles : 3).[0m ×2 + 35.91sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766275 ms (missed cycles : 3). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766275 ms (missed cycles : 3).[0m ×2 + 36.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210155 ms (missed cycles : 2). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210155 ms (missed cycles : 2).[0m ×2 + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928203 ms (missed cycles : 3). + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928203 ms (missed cycles : 3).[0m ×2 + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541888 ms (missed cycles : 4). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541888 ms (missed cycles : 4).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945091 ms (missed cycles : 2). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945091 ms (missed cycles : 2).[0m ×2 + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550705 ms (missed cycles : 5). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550705 ms (missed cycles : 5).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825732 ms (missed cycles : 3). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825732 ms (missed cycles : 3).[0m ×2 + 43.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757146 ms (missed cycles : 3). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757146 ms (missed cycles : 3).[0m ×2 + 44.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215590 ms (missed cycles : 4). + 44.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215590 ms (missed cycles : 4).[0m ×2 + 45.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862093 ms (missed cycles : 2). + 45.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862093 ms (missed cycles : 2).[0m ×2 + 47.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962495 ms (missed cycles : 2). + 47.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962495 ms (missed cycles : 2).[0m ×2 + 48.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.717651 ms (missed cycles : 5). + 48.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.717651 ms (missed cycles : 5).[0m ×2 + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120480 ms (missed cycles : 2). + 49.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120480 ms (missed cycles : 2).[0m ×2 + 49.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.313ms + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664780 ms (missed cycles : 3). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664780 ms (missed cycles : 3).[0m ×2 + 51.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119646 ms (missed cycles : 3). + 51.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119646 ms (missed cycles : 3).[0m ×2 + 52.46sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 52.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.630ms + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003394 ms (missed cycles : 2). + 52.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003394 ms (missed cycles : 2).[0m ×2 + 53.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907844 ms (missed cycles : 3). + 53.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907844 ms (missed cycles : 3).[0m ×2 + 54.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928647 ms (missed cycles : 3). + 54.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928647 ms (missed cycles : 3).[0m ×2 + 55.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817871 ms (missed cycles : 2). + 55.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817871 ms (missed cycles : 2).[0m ×2 + 56.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144001 ms (missed cycles : 2). + 56.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144001 ms (missed cycles : 2).[0m ×2 + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2). + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2).[0m ×2 + 59.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5). + 59.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5).[0m ×2 + 60.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3). + 60.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3).[0m ×2 + 60.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789246454.35887170 seconds ×3 + 60.38sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.38sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 60.48sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.48sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.85sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789246454.94255424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.729ms + 61.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4). + 61.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4).[0m ×2 + 61.24sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 61.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2). + 62.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2).[0m ×2 + 63.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3). + 63.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3).[0m ×2 + 63.18sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 63.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.7s	248 warnings · 220 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549031 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549031 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785246 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785246 ms (missed cycles : 3).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151768 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151768 ms (missed cycles : 2).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 2.72sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.72sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789246493.59202242 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789246494.18373680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568621 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568621 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.275ms + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484239 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484239 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928479 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928479 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.03sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.03sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.03sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845968 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845968 ms (missed cycles : 4).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039021 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039021 ms (missed cycles : 3).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.529ms + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265042 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265042 ms (missed cycles : 2).[0m ×2 + 9.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 9.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.709ms + 9.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.888ms + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940423 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940423 ms (missed cycles : 2).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.014ms + 10.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.469ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082701 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082701 ms (missed cycles : 3).[0m ×2 + 11.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.676ms + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799711 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799711 ms (missed cycles : 2).[0m ×2 + 12.05sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 6.426ms + 12.64sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 4.205ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774714 ms (missed cycles : 4). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774714 ms (missed cycles : 4).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.657ms + 13.73sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594470 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594470 ms (missed cycles : 2).[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727250 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727250 ms (missed cycles : 2).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097308 ms (missed cycles : 4). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097308 ms (missed cycles : 4).[0m ×2 + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947070 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947070 ms (missed cycles : 2).[0m ×2 + 17.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418368 ms (missed cycles : 3). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418368 ms (missed cycles : 3).[0m ×2 + 18.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 19.11sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.926ms + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001877 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001877 ms (missed cycles : 2).[0m ×2 + 19.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.039ms + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615011 ms (missed cycles : 3). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615011 ms (missed cycles : 3).[0m ×2 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763403 ms (missed cycles : 3). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763403 ms (missed cycles : 3).[0m ×2 + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 22.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083070 ms (missed cycles : 3). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083070 ms (missed cycles : 3).[0m ×2 + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747182 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747182 ms (missed cycles : 2).[0m ×2 + 24.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739541 ms (missed cycles : 5). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739541 ms (missed cycles : 5).[0m ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 25.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 25.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890368 ms (missed cycles : 4). + 25.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890368 ms (missed cycles : 4).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 26.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355782 ms (missed cycles : 3). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355782 ms (missed cycles : 3).[0m ×2 + 27.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237857 ms (missed cycles : 4). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237857 ms (missed cycles : 4).[0m ×2 + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.219ms + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.719119 ms (missed cycles : 5). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.719119 ms (missed cycles : 5).[0m ×2 + 28.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.652ms + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961854 ms (missed cycles : 3). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961854 ms (missed cycles : 3).[0m ×2 + 29.98sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 30.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577759 ms (missed cycles : 4). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577759 ms (missed cycles : 4).[0m ×2 + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932013 ms (missed cycles : 3). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932013 ms (missed cycles : 3).[0m ×2 + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 32.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875784 ms (missed cycles : 3). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875784 ms (missed cycles : 3).[0m ×2 + 33.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664937 ms (missed cycles : 4). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664937 ms (missed cycles : 4).[0m ×2 + 34.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403503 ms (missed cycles : 4). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403503 ms (missed cycles : 4).[0m ×2 + 35.41sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 36.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706748 ms (missed cycles : 2). + 36.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706748 ms (missed cycles : 2).[0m ×2 + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809601 ms (missed cycles : 3). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809601 ms (missed cycles : 3).[0m ×2 + 38.09sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879409 ms (missed cycles : 2). + 38.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879409 ms (missed cycles : 2).[0m ×2 + 39.22sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018496 ms (missed cycles : 3). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018496 ms (missed cycles : 3).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150078 ms (missed cycles : 2). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150078 ms (missed cycles : 2).[0m ×2 + 41.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553257 ms (missed cycles : 4). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553257 ms (missed cycles : 4).[0m ×2 + 41.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 41.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 42.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.153ms + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.598285 ms (missed cycles : 5). + 42.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.598285 ms (missed cycles : 5).[0m ×2 + 42.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.613ms + 43.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842992 ms (missed cycles : 3). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842992 ms (missed cycles : 3).[0m ×2 + 44.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.821ms + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241447 ms (missed cycles : 2). + 44.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241447 ms (missed cycles : 2).[0m ×2 + 45.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081698 ms (missed cycles : 3). + 45.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081698 ms (missed cycles : 3).[0m ×2 + 46.41sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 46.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092547 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092547 ms (missed cycles : 2).[0m ×2 + 47.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 47.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654638 ms (missed cycles : 2). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654638 ms (missed cycles : 2).[0m ×2 + 48.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 48.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389862 ms (missed cycles : 4). + 48.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389862 ms (missed cycles : 4).[0m ×2 + 48.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.651ms + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.746ms + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233399 ms (missed cycles : 5). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233399 ms (missed cycles : 5).[0m ×2 + 50.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 50.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 50.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730738 ms (missed cycles : 3). + 50.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730738 ms (missed cycles : 3).[0m ×2 + 51.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 51.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087129 ms (missed cycles : 2). + 51.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087129 ms (missed cycles : 2).[0m ×2 + 52.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857184 ms (missed cycles : 5). + 52.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857184 ms (missed cycles : 5).[0m ×2 + 53.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 54.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899808 ms (missed cycles : 3). + 54.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899808 ms (missed cycles : 3).[0m ×2 + 54.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 55.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996948 ms (missed cycles : 3). + 55.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996948 ms (missed cycles : 3).[0m ×2 + 55.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 55.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789246546.26389289 seconds ×3 + 55.54sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.54sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.98sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.02sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789246546.85071445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.04sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 56.04sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 56.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786942 ms (missed cycles : 2). + 56.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786942 ms (missed cycles : 2).[0m ×2 + 56.40sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 56.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.479ms + 57.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853635 ms (missed cycles : 2). + 57.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853635 ms (missed cycles : 2).[0m ×2 + 57.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 58.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429553 ms (missed cycles : 3). + 58.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429553 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	181 warnings · 391 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.54sINFOobjective_server_nodecaller: ×12 + 0.54sINFOobjective_server_nodetype: 0 ×12 + 0.54sINFOobjective_server_nodename: "" ×12 + 0.54sINFOobjective_server_nodeinstance_id: "" ×12 + 0.54sINFOobjective_server_node ×12 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.58sINFOmove_groupClearing octomap...[0m ×4 + 0.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOmove_groupOctomap cleared.[0m ×4 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 1.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×6 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.59sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.59sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542084 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542084 ms (missed cycles : 3).[0m ×2 + 7.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×8 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640808 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640808 ms (missed cycles : 3).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527928 ms (missed cycles : 3). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527928 ms (missed cycles : 3).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774777 ms (missed cycles : 3). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774777 ms (missed cycles : 3).[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253050 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253050 ms (missed cycles : 2).[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239716 ms (missed cycles : 2). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239716 ms (missed cycles : 2).[0m ×2 + 12.28sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587173 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587173 ms (missed cycles : 3).[0m ×2 + 14.03sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 3.088ms + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350351 ms (missed cycles : 3). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350351 ms (missed cycles : 3).[0m ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619767 ms (missed cycles : 2). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619767 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619261 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619261 ms (missed cycles : 3).[0m ×2 + 17.41sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914709 ms (missed cycles : 3). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914709 ms (missed cycles : 3).[0m ×2 + 18.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165214 ms (missed cycles : 2). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165214 ms (missed cycles : 2).[0m ×2 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651456 ms (missed cycles : 3). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651456 ms (missed cycles : 3).[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870464 ms (missed cycles : 2). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870464 ms (missed cycles : 2).[0m ×2 + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727741 ms (missed cycles : 4). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727741 ms (missed cycles : 4).[0m ×2 + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075943 ms (missed cycles : 2). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075943 ms (missed cycles : 2).[0m ×2 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428370 ms (missed cycles : 2). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428370 ms (missed cycles : 2).[0m ×2 + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938804 ms (missed cycles : 2). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938804 ms (missed cycles : 2).[0m ×2 + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364928 ms (missed cycles : 3). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364928 ms (missed cycles : 3).[0m ×2 + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342798 ms (missed cycles : 3). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342798 ms (missed cycles : 3).[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706066 ms (missed cycles : 2). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706066 ms (missed cycles : 2).[0m ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462167 ms (missed cycles : 3). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462167 ms (missed cycles : 3).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447845 ms (missed cycles : 3). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447845 ms (missed cycles : 3).[0m ×2 + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563705 ms (missed cycles : 4). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563705 ms (missed cycles : 4).[0m ×2 + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969491 ms (missed cycles : 3). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969491 ms (missed cycles : 3).[0m ×2 + 33.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123832 ms (missed cycles : 3). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123832 ms (missed cycles : 3).[0m ×2 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982158 ms (missed cycles : 3). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982158 ms (missed cycles : 3).[0m ×2 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585517 ms (missed cycles : 2). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585517 ms (missed cycles : 2).[0m ×2 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216842 ms (missed cycles : 3). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216842 ms (missed cycles : 3).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368894 ms (missed cycles : 4). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368894 ms (missed cycles : 4).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422577 ms (missed cycles : 3). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422577 ms (missed cycles : 3).[0m ×2 + 39.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840178 ms (missed cycles : 3). + 39.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840178 ms (missed cycles : 3).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151644 ms (missed cycles : 3). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151644 ms (missed cycles : 3).[0m ×2 + 41.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939437 ms (missed cycles : 3). + 41.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939437 ms (missed cycles : 3).[0m ×2 + 42.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.043ms + 42.81sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 42.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969161 ms (missed cycles : 2). + 42.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969161 ms (missed cycles : 2).[0m ×2 + 43.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945591 ms (missed cycles : 3). + 43.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945591 ms (missed cycles : 3).[0m ×2 + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753109 ms (missed cycles : 3). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753109 ms (missed cycles : 3).[0m ×2 + 46.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508422 ms (missed cycles : 3). + 46.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508422 ms (missed cycles : 3).[0m ×2 + 46.28sINFOjoint_trajectory_controllerGoal reached, success! + 46.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789246390.92654037 seconds ×3 + 46.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.84sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789246391.51141596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251386 ms (missed cycles : 2). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251386 ms (missed cycles : 2).[0m ×2 + 47.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 47.94sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 48.05sINFOobjective_server_nodeFound path in 0 iterations (2.5692e-05 s). ×2 + 48.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783681 ms (missed cycles : 5). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783681 ms (missed cycles : 5).[0m ×2 + 49.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2). + 49.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	149 warnings · 183 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550331 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578888 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578888 ms (missed cycles : 2).[0m ×2 + 1.29sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.29sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.34sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789246460.75271726 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953914 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953914 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789246462.33187914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.96sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013536 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013536 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 4.20sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290823 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290823 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009622 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009622 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035608 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035608 ms (missed cycles : 3).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942996 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942996 ms (missed cycles : 3).[0m ×2 + 8.08sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 8.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.984ms + 8.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690634 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690634 ms (missed cycles : 3).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.896ms + 9.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.156ms + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882687 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882687 ms (missed cycles : 3).[0m ×2 + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.306ms + 10.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.615ms + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689989 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689989 ms (missed cycles : 2).[0m ×2 + 11.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.799ms + 12.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.091ms + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541817 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541817 ms (missed cycles : 2).[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.768ms + 13.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.230ms + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368820 ms (missed cycles : 3). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368820 ms (missed cycles : 3).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.563ms + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029036 ms (missed cycles : 3). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029036 ms (missed cycles : 3).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.135ms + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307890 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307890 ms (missed cycles : 2).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.452ms + 16.30sINFOamclParticle filter update iteration stats: 4301 particles 723 points - 8.143ms + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272005 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272005 ms (missed cycles : 2).[0m ×2 + 16.88sINFOamclParticle filter update iteration stats: 3191 particles 723 points - 9.914ms + 17.47sINFOamclParticle filter update iteration stats: 2229 particles 723 points - 4.337ms + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267243 ms (missed cycles : 5). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267243 ms (missed cycles : 5).[0m ×2 + 18.11sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 3.044ms + 18.70sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms ×2 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949155 ms (missed cycles : 3). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949155 ms (missed cycles : 3).[0m ×2 + 19.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827712 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827712 ms (missed cycles : 2).[0m ×2 + 19.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 20.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329663 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329663 ms (missed cycles : 2).[0m ×2 + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153722 ms (missed cycles : 4). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153722 ms (missed cycles : 4).[0m ×2 + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078940 ms (missed cycles : 3). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078940 ms (missed cycles : 3).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888010 ms (missed cycles : 2). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888010 ms (missed cycles : 2).[0m ×2 + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044556 ms (missed cycles : 2). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044556 ms (missed cycles : 2).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477689 ms (missed cycles : 3). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477689 ms (missed cycles : 3).[0m ×2 + 26.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 27.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217880 ms (missed cycles : 3). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217880 ms (missed cycles : 3).[0m ×2 + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.436ms + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548275 ms (missed cycles : 3). + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548275 ms (missed cycles : 3).[0m ×2 + 28.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.622ms + 29.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063408 ms (missed cycles : 2). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063408 ms (missed cycles : 2).[0m ×2 + 29.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 30.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360920 ms (missed cycles : 3). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360920 ms (missed cycles : 3).[0m ×2 + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549031 ms (missed cycles : 3). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549031 ms (missed cycles : 3).[0m ×2 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785246 ms (missed cycles : 3). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785246 ms (missed cycles : 3).[0m ×2 + 32.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151768 ms (missed cycles : 2). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151768 ms (missed cycles : 2).[0m ×2 + 34.18sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789246493.59202242 seconds ×3 + 34.26sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.26sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.46sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.46sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789246494.18373680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568621 ms (missed cycles : 3). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568621 ms (missed cycles : 3).[0m ×2 + 34.95sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 34.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.275ms + 35.18sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 35.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484239 ms (missed cycles : 3). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484239 ms (missed cycles : 3).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928479 ms (missed cycles : 2). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928479 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	18.0s	109 warnings · 243 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856689 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856689 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290396 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290396 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830749 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830749 ms (missed cycles : 3).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.15sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277355 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277355 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789246686.30373526 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.71sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.71sINFOobjective_server_nodecaller: ×6 + 3.71sINFOobjective_server_nodetype: 0 ×6 + 3.71sINFOobjective_server_nodename: "" ×6 + 3.71sINFOobjective_server_nodeinstance_id: "" ×6 + 3.71sINFOobjective_server_node ×6 + 3.76sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789246686.89045334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.325ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067862 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067862 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.50sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480651 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480651 ms (missed cycles : 3).[0m ×2 + 5.81sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581585 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581585 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480510 ms (missed cycles : 3). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480510 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464561 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464561 ms (missed cycles : 3).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152647 ms (missed cycles : 4). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152647 ms (missed cycles : 4).[0m ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 10.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.25sINFOobjective_server_nodeFound path in 0 iterations (4.82e-07 s). ×2 + 10.39sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.43sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 10.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334516 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334516 ms (missed cycles : 3).[0m ×2 + 10.87sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 11.24sINFOobjective_server_nodeFound path in 33 iterations (0.0345049 s). ×2 + 11.75sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.83sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789196 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789196 ms (missed cycles : 2).[0m ×2 + 12.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.48sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239716 ms (missed cycles : 4). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239716 ms (missed cycles : 4).[0m ×2 + 13.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 13.95sINFOobjective_server_nodeFound path in 1395 iterations (0.696317 s). ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771757 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771757 ms (missed cycles : 2).[0m ×2 + 14.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_____________________________________________________________X__________________X] ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039942 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039942 ms (missed cycles : 2).[0m ×2 + 15.22sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 16.15sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370343 ms (missed cycles : 3). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370343 ms (missed cycles : 3).[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082615 ms (missed cycles : 2). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082615 ms (missed cycles : 2).[0m ×2 + 17.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.884ms + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708995 ms (missed cycles : 3). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708995 ms (missed cycles : 3).[0m ×2 + 18.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.413ms + 19.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.677ms + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173599 ms (missed cycles : 3). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173599 ms (missed cycles : 3).[0m ×2 + 20.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.463ms + 21.18sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 21.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 21.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789246704.34666896 seconds ×3 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947649 ms (missed cycles : 3). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947649 ms (missed cycles : 3).[0m ×2 + 21.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 21.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246704.96806502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 21.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 21.85sINFOmove_groupClearing octomap...[0m ×2 + 21.86sINFOmove_groupOctomap cleared.[0m ×2 + 21.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 21.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726944 ms (missed cycles : 2). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726944 ms (missed cycles : 2).[0m ×2 + 22.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.967ms + 22.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246705.83819914 seconds ×3 + 23.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.25sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 23.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789246706.41158533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324331 ms (missed cycles : 2). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324331 ms (missed cycles : 2).[0m ×2 + 23.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789246706.99170542 seconds ×3 + 24.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029921 ms (missed cycles : 4). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029921 ms (missed cycles : 4).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	10.8s	100 errors · 35 warnings · 519 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.677ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173599 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173599 ms (missed cycles : 3).[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.463ms + 1.68sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.71sINFOjoint_trajectory_controllerGoal reached, success! + 1.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.73sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789246704.34666896 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947649 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947649 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246704.96806502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.39sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726944 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726944 ms (missed cycles : 2).[0m ×2 + 2.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.967ms + 3.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246705.83819914 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789246706.41158533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324331 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324331 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789246706.99170542 seconds ×3 + 4.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029921 ms (missed cycles : 4). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029921 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877266 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877266 ms (missed cycles : 3).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709007 ms (missed cycles : 3). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709007 ms (missed cycles : 3).[0m ×2 + 7.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412621 ms (missed cycles : 3). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412621 ms (missed cycles : 3).[0m ×2 + 8.13sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819078 ms (missed cycles : 3). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819078 ms (missed cycles : 3).[0m ×2 + 10.02sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.06sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORweb_video_auth_proxy-38process has died [pid 7797, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.06sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.07sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.08sERRORweb_bridge_auth_proxy-37process has died [pid 7796, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.08sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.09sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.10sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.11sINFOvideo_server-36process has finished cleanly [pid 7795] ×2 + 10.11sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.12sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.13sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.14sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.15sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.16sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.17sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.18sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.19sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.21sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.21sINFOcontroller_managerShutdown request received.... + 10.21sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.21sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.21sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.21sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.21sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.21sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.21sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.21sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.21sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.21sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.21sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.21sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.21sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.21sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.21sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.21sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.21sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.21sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.21sINFOcontroller_managerShutting down the controller manager. + 10.22sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.23sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.24sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.34sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.34sERRORmove_group-24process has died [pid 7742, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_szy2hbam --params-file /tmp/launch_params_cu_wnl4_ --params-file /tmp/launch_params_zfwfnmfx --params-file /tmp/launch_params_clkxom57 --params-file /tmp/launch_params_vr2fqv_m --params-file /tmp/launch_params_3ieei1_u']. ×2 + 10.35sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.36sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.37sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.37sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.38sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.39sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.39sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.39sINFOmap_serverDeactivating + 10.39sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.40sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.40sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.40sINFOcontroller_serverDeactivating + 10.40sINFOlocal_costmap.local_costmapDeactivating + 10.40sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.40sINFOvideo_server2026/09/12 20:58:32 INF shutting down gracefully ×2 + 10.40sINFOvideo_server2026/09/12 20:58:32 INF [WebRTC] closing ×2 + 10.40sINFOvideo_server2026/09/12 20:58:32 INF [RTSP] closing ×2 + 10.40sINFOvideo_server2026/09/12 20:58:32 INF waiting for running hooks ×2 + 10.40sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOmap_serverCleaning up + 10.40sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.40sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.40sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.40sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.40sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.41sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.41sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.41sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.41sERRORmove_groupStack trace (most recent call last) in thread 8419: ×2 + 10.41sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.41sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.41sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.41sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.41sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.41sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.41sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.41sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.41sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.41sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f22b541ba63, in __clone ×2 + 10.41sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f22b538eaa3, in ×2 + 10.41sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f22b5620db3, in ×2 + 10.41sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f22b5d84b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.41sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f22b59b2620, in rclcpp::Rate::sleep() ×2 + 10.41sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f22b58f4d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.41sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f22b58b6087, in ×2 + 10.41sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f22b55ef390, in __cxa_throw ×2 + 10.41sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f22b55d9a54, in std::terminate() ×2 + 10.41sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f22b55ef0d9, in ×2 + 10.41sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f22b55d9ff4, in ×2 + 10.41sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f22b531a8fe, in abort ×2 + 10.41sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f22b533727d, in raise ×2 + 10.41sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f22b5390b2c, in pthread_kill ×2 + 10.41sERRORmove_groupAborted (Signal sent by tkill() 7742 0) ×2 + 10.41sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.41sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.41sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.41sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.41sINFOodom_qos_relay.pymain() ×2 + 10.41sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.41sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.41sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.41sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.41sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.41sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.41sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.41sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.42sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.42sERRORamclThe bond connection to the lifecycle manager has been broken + 10.42sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.42sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 10.45sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.46sINFOcontroller_serverCleaning up + 10.46sINFOlocal_costmap.local_costmapCleaning up + 10.50sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.50sINFOsmoother_serverDeactivating + 10.50sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.52sINFOsmoother_serverCleaning up + 10.53sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.53sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.53sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.53sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.53sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.53sINFOvelocity_smootherDeactivating + 10.53sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.53sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.53sINFOplanner_serverDeactivating + 10.53sINFOglobal_costmap.global_costmapDeactivating + 10.64sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.64sINFOwaypoint_followerDeactivating + 10.64sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.76sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.76sINFObt_navigatorDeactivating + 10.76sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.87sINFObehavior_serverDeactivating + 10.87sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.98sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.98sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.99sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.99sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.99sINFOvelocity_smootherCleaning up + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.99sINFOwaypoint_followerCleaning up + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.02sINFObt_navigatorCleaning up + 11.07sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.07sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.08sINFOplanner_serverCleaning up + 11.09sINFOglobal_costmap.global_costmapCleaning up + 11.10sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.10sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.14sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.14sINFObehavior_serverCleaning up + 11.14sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.14sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.14sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.14sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.15sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7791] ×2 + 11.15sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.20sINFObt_navigatorCompleted Cleaning up + 11.20sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.21sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7779] ×2 + 11.23sINFOui_teleop_bridge-33process has finished cleanly [pid 7786] ×2 + 11.23sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7778] ×2 + 11.23sINFOexecute_objective_bridge-32process has finished cleanly [pid 7785] ×2 + 11.25sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.25sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.25sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.26sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.26sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.26sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.26sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.26sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.27sINFOparameter_manager_node-25process has finished cleanly [pid 7776] ×2 + 11.27sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7712] ×2 + 11.28sINFOwaypoint_manager_node-26process has finished cleanly [pid 7777] ×2 + 11.28sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7711] ×2 + 11.29sINFOstatic_transform_publisher-9process has finished cleanly [pid 7629] ×2 + 11.31sINFOcomponent_container_mt-31process has finished cleanly [pid 7782] ×2 + 11.33sINFOobjective_server_node[2026-09-12 20:58:33.947] [moveit_pro_license] [critical] ×2 + 11.33sINFOobjective_server_node************************************************* ×4 + 11.33sINFOobjective_server_node* MoveIt Pro License ×2 + 11.33sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.38sINFOcomponent_container_mt-30process has finished cleanly [pid 7781] ×2 + 11.38sINFOstatic_transform_publisher-8process has finished cleanly [pid 7628] ×2 + 11.39sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.39sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.39sINFOlidar_flattener.pymain() ×2 + 11.39sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.39sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.39sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.39sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.39sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.39sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.39sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.39sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.39sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.39sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.39sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.39sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.39sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.39sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.39sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.39sINFOobjective_server_node_main-29process has finished cleanly [pid 7780] ×2 + 11.39sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.42sINFOstatic_transform_publisher-4process has finished cleanly [pid 7624] ×2 + 11.43sINFOstatic_transform_publisher-3process has finished cleanly [pid 7623] ×2 + 11.44sERRORlidar_flattener.py-7process has died [pid 7627, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_0dw0lcu9']. ×2 + 11.46sERRORodom_qos_relay.py-5process has died [pid 7625, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.46sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7626] ×2 + 11.53sERRORcomponent_container_isolated-1process has died [pid 7621, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_exjgerwe --params-file /tmp/launch_params_cvagrsox -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.78sERRORcomponent_container_isolated-2process has died [pid 7622, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_exjgerwe --params-file /tmp/launch_params_2ghwr_9w -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.81sINFOweb_bridge-34process has finished cleanly [pid 7787] ×2 + 12.81sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 12.93sINFOros2_control_node-12process has finished cleanly [pid 7713] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 102 warnings · 157 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857184 ms (missed cycles : 5). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857184 ms (missed cycles : 5).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899808 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899808 ms (missed cycles : 3).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996948 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996948 ms (missed cycles : 3).[0m ×2 + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789246546.26389289 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789246546.85071445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.61sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786942 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786942 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.479ms + 4.62sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853635 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853635 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429553 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429553 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.23sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058881 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058881 ms (missed cycles : 2).[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345470 ms (missed cycles : 3). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345470 ms (missed cycles : 3).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.428ms + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.713040 ms (missed cycles : 6). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.713040 ms (missed cycles : 6).[0m ×2 + 9.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.959ms + 9.78sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.084ms + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886829 ms (missed cycles : 5). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886829 ms (missed cycles : 5).[0m ×2 + 10.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 10.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.368ms + 10.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.355ms + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785955 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785955 ms (missed cycles : 2).[0m ×2 + 11.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.456ms + 12.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.131ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731922 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731922 ms (missed cycles : 3).[0m ×2 + 12.62sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 9.446ms + 13.17sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 3.718ms + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138617 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138617 ms (missed cycles : 2).[0m ×2 + 13.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 13.71sINFOjoint_trajectory_controllerGot request to cancel goal + 13.71sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.71sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.71sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246557.00156260 seconds ×3 + 13.81sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.81sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.21sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.21sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 14.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.33sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789246557.59208560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372318 ms (missed cycles : 2). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372318 ms (missed cycles : 2).[0m ×2 + 14.72sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 14.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.339ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149528 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149528 ms (missed cycles : 2).[0m ×2 + 15.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067205 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067205 ms (missed cycles : 2).[0m ×2 + 16.75sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	65 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.32sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789246454.35887170 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789246454.94255424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.729ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3).[0m ×2 + 5.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874381 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874381 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550331 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550331 ms (missed cycles : 3).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578888 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578888 ms (missed cycles : 2).[0m ×2 + 8.72sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789246460.75271726 seconds ×3 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953914 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953914 ms (missed cycles : 2).[0m ×2 + 10.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.27sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.30sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789246462.33187914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013536 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013536 ms (missed cycles : 3).[0m ×2 + 10.76sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 10.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 11.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290823 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290823 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009622 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009622 ms (missed cycles : 3).[0m ×2 + 13.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	61 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214515 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214515 ms (missed cycles : 4).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.075ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234744 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234744 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.729ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875903 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875903 ms (missed cycles : 3).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 2.91sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.91sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.92sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789246622.41227460 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696366 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696366 ms (missed cycles : 2).[0m ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789246622.99342728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.541ms + 3.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258283 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258283 ms (missed cycles : 2).[0m ×2 + 4.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 4.77sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045936 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045936 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3).[0m ×2 + 9.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789246628.86360049 seconds ×3 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3).[0m ×2 + 9.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.93sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789246629.45224237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.40sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2).[0m ×2 + 12.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	46 warnings · 144 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945591 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945591 ms (missed cycles : 3).[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753109 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753109 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508422 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508422 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789246390.92654037 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789246391.51141596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251386 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251386 ms (missed cycles : 2).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 4.55sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.5692e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.75sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783681 ms (missed cycles : 5). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783681 ms (missed cycles : 5).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144057 ms (missed cycles : 4). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144057 ms (missed cycles : 4).[0m ×2 + 7.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 8.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554621 ms (missed cycles : 4). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554621 ms (missed cycles : 4).[0m ×2 + 8.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.107ms + 9.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789246397.12154531 seconds ×3 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654352 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654352 ms (missed cycles : 3).[0m ×2 + 9.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.65sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789246397.70873404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.70sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.74sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 2.986ms + 10.10sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528552 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528552 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269462 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269462 ms (missed cycles : 3).[0m ×2 + 12.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111504 ms (missed cycles : 3). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111504 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.5s	25 warnings · 121 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708995 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708995 ms (missed cycles : 3).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.413ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.677ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173599 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173599 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.463ms + 2.29sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789246704.34666896 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947649 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947649 ms (missed cycles : 3).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246704.96806502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.96sINFOmove_groupClearing octomap...[0m ×2 + 2.96sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.99sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726944 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726944 ms (missed cycles : 2).[0m ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.967ms + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246705.83819914 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789246706.41158533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324331 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324331 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789246706.99170542 seconds ×3 + 5.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029921 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029921 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877266 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877266 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789246628.86360049 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789246629.45224237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789246628.86360049 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789246629.45224237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789246628.86360049 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789246629.45224237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	22 warnings · 319 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.54sINFOobjective_server_nodecaller: ×10 + 0.54sINFOobjective_server_nodetype: 0 ×10 + 0.54sINFOobjective_server_nodename: "" ×10 + 0.54sINFOobjective_server_nodeinstance_id: "" ×10 + 0.54sINFOobjective_server_node ×10 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.58sINFOmove_groupClearing octomap...[0m ×4 + 0.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOmove_groupOctomap cleared.[0m ×4 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 1.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal + 4.59sINFOjoint_trajectory_controllerAccepted new action goal + 4.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	24 warnings · 70 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945591 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945591 ms (missed cycles : 3).[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753109 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753109 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508422 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508422 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789246390.92654037 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789246391.51141596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251386 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251386 ms (missed cycles : 2).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 4.55sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.5692e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783681 ms (missed cycles : 5). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783681 ms (missed cycles : 5).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	24 warnings · 70 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945591 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945591 ms (missed cycles : 3).[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753109 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753109 ms (missed cycles : 3).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508422 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508422 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789246390.92654037 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789246391.51141596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251386 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251386 ms (missed cycles : 2).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 4.55sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.5692e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783681 ms (missed cycles : 5). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783681 ms (missed cycles : 5).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	22 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.59sINFOmove_groupClearing octomap...[0m ×4 + 2.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×4 + 2.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	25 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864200 ms (missed cycles : 2).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144057 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144057 ms (missed cycles : 4).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.944ms + 1.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554621 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554621 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.107ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789246397.12154531 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654352 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654352 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789246397.70873404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 2.986ms + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 4.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528552 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528552 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269462 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269462 ms (missed cycles : 3).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111504 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111504 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	40 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789246454.35887170 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789246454.94255424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.729ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3).[0m ×2 + 5.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	40 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789246454.35887170 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789246454.94255424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.729ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3).[0m ×2 + 5.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	40 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789246454.35887170 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789246454.94255424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.729ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3).[0m ×2 + 5.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	40 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789246454.35887170 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789246454.94255424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.729ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3).[0m ×2 + 5.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	40 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816334 ms (missed cycles : 2).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562178 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969303 ms (missed cycles : 3).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789246454.35887170 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.44sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789246454.94255424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.729ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221982 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.67sINFOjoint_trajectory_controllerReceived new action goal + 3.67sINFOjoint_trajectory_controllerAccepted new action goal + 3.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234877 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380916 ms (missed cycles : 3).[0m ×2 + 5.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	38 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549031 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549031 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785246 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785246 ms (missed cycles : 3).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151768 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151768 ms (missed cycles : 2).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789246493.59202242 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789246494.18373680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568621 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568621 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.275ms + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484239 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484239 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928479 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928479 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	38 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549031 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549031 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785246 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785246 ms (missed cycles : 3).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151768 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151768 ms (missed cycles : 2).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789246493.59202242 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789246494.18373680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568621 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568621 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.275ms + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484239 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484239 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928479 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928479 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	38 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549031 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549031 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785246 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785246 ms (missed cycles : 3).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151768 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151768 ms (missed cycles : 2).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789246493.59202242 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789246494.18373680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568621 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568621 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.275ms + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484239 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484239 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928479 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928479 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	22 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.59sINFOmove_groupClearing octomap...[0m ×4 + 2.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×4 + 2.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789246628.86360049 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789246629.45224237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	22 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.59sINFOmove_groupClearing octomap...[0m ×4 + 2.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×4 + 2.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789246628.86360049 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789246629.45224237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789246628.86360049 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789246629.45224237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711308 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323809 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901290 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789246628.86360049 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490082 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.65sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789246629.45224237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350810 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142840 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	22 warnings · 121 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708995 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708995 ms (missed cycles : 3).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.413ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.677ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173599 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173599 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.463ms + 2.29sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789246704.34666896 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947649 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947649 ms (missed cycles : 3).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246704.96806502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.96sINFOmove_groupClearing octomap...[0m ×2 + 2.96sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.99sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726944 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726944 ms (missed cycles : 2).[0m ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.967ms + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246705.83819914 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789246706.41158533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324331 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324331 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789246706.99170542 seconds ×3 + 5.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029921 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029921 ms (missed cycles : 4).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	28 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.59sINFOmove_groupClearing octomap...[0m ×4 + 2.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×4 + 2.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272302 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272302 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 2.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.68sINFOobjective_server_nodecaller: ×10 + 3.68sINFOobjective_server_nodetype: 0 ×10 + 3.68sINFOobjective_server_nodename: "" ×10 + 3.68sINFOobjective_server_nodeinstance_id: "" ×10 + 3.68sINFOobjective_server_node ×10 + 3.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.72sINFOmove_groupClearing octomap...[0m ×4 + 3.72sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×4 + 3.72sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 6.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 7.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.59sINFOmove_groupClearing octomap...[0m ×4 + 2.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×4 + 2.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.61sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	27 warnings · 312 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272302 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272302 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 2.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.68sINFOobjective_server_nodecaller: ×10 + 3.68sINFOobjective_server_nodetype: 0 ×10 + 3.68sINFOobjective_server_nodename: "" ×10 + 3.68sINFOobjective_server_nodeinstance_id: "" ×10 + 3.68sINFOobjective_server_node ×10 + 3.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.72sINFOmove_groupClearing octomap...[0m ×4 + 3.72sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×4 + 3.72sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 5.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 6.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	22 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.59sINFOmove_groupClearing octomap...[0m ×4 + 2.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×4 + 2.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	22 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.59sINFOmove_groupClearing octomap...[0m ×4 + 2.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×4 + 2.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	22 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.59sINFOmove_groupClearing octomap...[0m ×4 + 2.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×4 + 2.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	25 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973249 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.59sINFOmove_groupClearing octomap...[0m ×4 + 2.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×4 + 2.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.61sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292419 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708760 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.56sINFOobjective_server_nodecaller: ×10 + 1.56sINFOobjective_server_nodetype: 0 ×10 + 1.56sINFOobjective_server_nodename: "" ×10 + 1.56sINFOobjective_server_nodeinstance_id: "" ×10 + 1.56sINFOobjective_server_node ×10 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246345.20272851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246345.21302795 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246345.79418945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246345.80431986 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686143 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246346.38480592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246346.53547549 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641054 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246347.13989449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246347.21003270 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789246347.79631829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859747 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231073 ms (missed cycles : 5).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545547 ms (missed cycles : 3).[0m ×2