MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.6s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.8s	12 errors · 318 warnings · 1544 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/2026-09-14-08-28-40-423823-9a48962f759f-7648 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.26sINFOstatic_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' + 4.26sINFOstatic_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' + 4.26sINFOstatic_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' + 4.28sINFOstatic_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' + 4.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.52sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.54sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.55sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.56sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.57sINFOcontroller_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. + 4.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.61sINFOcontroller_managerupdate rate is 600 Hz + 4.61sINFOcontroller_managerOverruns handling is : enabled + 4.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.62sINFOros2_control_node-12process started with pid [7790] ×2 + 4.62sINFOmove_group-24process started with pid [7810] ×2 + 4.62sINFOparameter_manager_node-25process started with pid [7853] ×2 + 4.62sINFOwaypoint_manager_node-26process started with pid [7854] ×2 + 4.62sINFOmove_joint_resampler_node-27process started with pid [7855] ×2 + 4.62sINFOmove_end_effector_resampler_node-28process started with pid [7856] ×2 + 4.62sINFOobjective_server_node_main-29process started with pid [7857] ×2 + 4.62sINFOcomponent_container_mt-30process started with pid [7858] ×2 + 4.62sINFOcomponent_container_mt-31process started with pid [7859] ×2 + 4.62sINFOexecute_objective_bridge-32process started with pid [7860] ×2 + 4.62sINFOui_teleop_bridge-33process started with pid [7861] ×2 + 4.62sINFOweb_bridge-34process started with pid [7862] ×2 + 4.62sINFOtf2_web_republisher_node-35process started with pid [7863] ×2 + 4.62sINFOvideo_server-36process started with pid [7871] ×2 + 4.62sINFOweb_bridge_auth_proxy-37process started with pid [7873] ×2 + 4.62sINFOweb_video_auth_proxy-38process started with pid [7908] ×2 + 4.62sINFOcomponent_container_isolated-1process started with pid [7698] ×2 + 4.62sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.62sINFOcomponent_container_isolated-2process started with pid [7699] ×2 + 4.62sINFOstatic_transform_publisher-3process started with pid [7700] ×2 + 4.62sINFOstatic_transform_publisher-4process started with pid [7701] ×2 + 4.62sINFOodom_qos_relay.py-5process started with pid [7702] ×2 + 4.62sINFOforward_stereo_publisher.py-6process started with pid [7703] ×2 + 4.62sINFOlidar_flattener.py-7process started with pid [7704] ×2 + 4.62sINFOstatic_transform_publisher-8process started with pid [7705] ×2 + 4.62sINFOstatic_transform_publisher-9process started with pid [7706] ×2 + 4.62sINFOscan_to_scan_filter_chain-10process started with pid [7788] ×2 + 4.62sINFOscan_to_scan_filter_chain-11process started with pid [7789] ×2 + 4.62sINFOros2-13process started with pid [7791] ×2 + 4.62sINFOros2-14process started with pid [7796] ×2 + 4.62sINFOros2-15process started with pid [7797] ×2 + 4.62sINFOros2-16process started with pid [7798] ×2 + 4.62sINFOros2-17process started with pid [7799] ×2 + 4.62sINFOros2-18process started with pid [7800] ×2 + 4.62sINFOros2-19process started with pid [7801] ×2 + 4.62sINFOros2-20process started with pid [7802] ×2 + 4.62sINFOros2-21process started with pid [7807] ×2 + 4.62sINFOros2-22process started with pid [7808] ×2 + 4.62sINFOros2-23process started with pid [7809] ×2 + 4.65sINFOcontroller_serverCreating controller server + 4.67sINFOlocal_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. + 4.68sINFOlocal_costmap.local_costmapCreating Costmap + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336085 ms (missed cycles : 3). + 4.71sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.71sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.71sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.71sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.71sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.71sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.71sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.71sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.71sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.71sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.71sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.71sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.71sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.71sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.71sWARNros2_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 + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336085 ms (missed cycles : 3).[0m ×2 + 4.73sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.77sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.78sINFOsmoother_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. + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.80sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.82sINFOmap_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. + 4.83sINFOmap_serverCreating + 4.83sINFOsmoother_serverCreating smoother server + 4.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.85sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.87sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.88sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.91sINFOplanner_serverCreating + 4.95sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.96sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.96sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.97sINFOglobal_costmap.global_costmapCreating Costmap + 4.97sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.97sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.99sINFOlifecycle_manager_localizationCreating + 4.99sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.00sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.00sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.00sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.00sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.00sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.01sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.01sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.01sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.02sINFOmap_serverConfiguring + 5.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.03sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.05sINFObehavior_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. + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.09sINFOvideo_server2026/09/14 08:28:47 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.10sINFOvideo_server2026/09/14 08:28:47 INF configuration loaded from /tmp/moveit-webrtc-xu96q9e9/mediamtx.yml ×2 + 5.10sINFOvideo_server2026/09/14 08:28:47 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.10sINFOvideo_server2026/09/14 08:28:47 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.11sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.11sINFOamclConfiguring + 5.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.11sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.11sINFOmap_serverActivating + 5.11sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.12sINFOrobot_state_publisherRobot initialized + 5.12sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.12sINFOcontroller_managerReceived robot description from topic. + 5.12sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.12sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.12sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.15sINFObt_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. + 5.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.18sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.18sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.18sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.19sINFObt_navigatorCreating + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.24sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.24sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.24sINFOamclActivating + 5.24sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.24sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.25sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.25sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.26sINFOwaypoint_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. + 5.26sINFOamclSubscribed to map_topic: /map + 5.26sINFOamclSubscribed to scan_topic: /scan_merged + 5.26sINFOamclCreated reinitialize_global_localization service + 5.26sINFOamclCreated request_nomotion_update service + 5.27sINFOamclA new map was received + 5.27sINFOamclInitializing particle filter instance + 5.27sINFOwaypoint_followerCreating + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.34sINFOvelocity_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. + 5.34sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.39sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.63885 seconds + 5.39sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.39sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.39sINFOmove_groupLoaded robot model in 0.63885 seconds[0m ×2 + 5.39sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.39sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.40sWARNlaser_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. + 5.40sWARNscan_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 + 5.40sINFOlifecycle_manager_navigationCreating + 5.42sWARNlaser_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. + 5.43sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.46sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.46sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.46sINFOcontroller_serverConfiguring controller interface + 5.46sINFOcontroller_servergetting progress checker plugins.. + 5.46sINFOcontroller_servergetting goal checker plugins.. + 5.46sINFOcontroller_serverController frequency set to 20.0000Hz + 5.46sINFOlocal_costmap.local_costmapConfiguring + 5.48sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.50sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.54sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.54sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.55sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.59sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.59sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.60sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.62sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.63sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.66sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.69sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.69sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.70sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.71sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.71sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.72sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.72sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.74sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.76sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.76sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.76sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.77sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.78sINFOcontroller_serverOptimizer reset ×2 + 5.80sINFOcontroller_serverController Server has FollowPath controllers available. + 5.83sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.83sINFOsmoother_serverConfiguring smoother server + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398140 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398140 ms (missed cycles : 2).[0m ×2 + 5.85sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.85sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.87sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.87sINFOplanner_serverConfiguring + 5.87sINFOglobal_costmap.global_costmapConfiguring + 5.88sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.89sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.89sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.89sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.90sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.94sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.94sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.95sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.95sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.95sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.99sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.99sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.99sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.01sINFOamclParticle filter initialization completed + 6.01sINFOamclInitializing particles from estimated pose and covariance + 6.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.02sINFOplanner_serverPlanner Server has GridBased planners available. + 6.05sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.05sINFObehavior_serverConfiguring + 6.06sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.06sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.06sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.06sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.06sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.06sWARNmove_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. + 6.06sWARNmove_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. + 6.06sWARNmove_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. + 6.06sWARNmove_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. + 6.06sWARNmove_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 + 6.06sWARNmove_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. + 6.06sWARNmove_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. + 6.06sWARNmove_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. + 6.06sWARNmove_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 + 6.06sWARNmove_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. + 6.07sWARNmove_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 + 6.07sWARNmove_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 + 6.07sWARNmove_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. + 6.07sWARNmove_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. + 6.07sWARNmove_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 + 6.07sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.07sWARNmove_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 + 6.07sWARNmove_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 + 6.07sWARNmove_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 + 6.07sWARNmove_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 + 6.07sWARNmove_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 + 6.07sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.09sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.09sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.09sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.10sINFObehavior_serverConfiguring spin + 6.11sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.12sINFObehavior_serverConfiguring backup + 6.13sINFObehavior_serverConfiguring drive_on_heading + 6.15sINFObehavior_serverConfiguring assisted_teleop + 6.17sINFObehavior_serverConfiguring wait + 6.18sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.18sINFObt_navigatorConfiguring + 6.20sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.21sWARNbt_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 + 6.22sINFOwaypoint_manager_nodeLoaded robot model in 0.393054 seconds[0m ×2 + 6.22sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.22sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.33sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.36sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.36sINFOwaypoint_followerConfiguring + 6.39sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.39sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.39sINFOvelocity_smootherConfiguring velocity smoother + 6.40sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.40sINFOcontroller_serverActivating + 6.40sINFOlocal_costmap.local_costmapActivating + 6.40sINFOlocal_costmap.local_costmapChecking transform + 6.40sINFOlocal_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. ×8 + 6.41sINFOmove_group[2026-09-14 08:28:48.439] [moveit_pro_license] [info] ×2 + 6.41sINFOmove_group************************************************* ×4 + 6.41sINFOmove_group* MoveIt Pro License ×2 + 6.41sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.69sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.69sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.69sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.69sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.72sINFOros2_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 + 6.72sINFOros2_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.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.84sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.84sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.84sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.85sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.85sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.85sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.85sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.85sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.85sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.85sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.85sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.86sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.86sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.86sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.86sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.86sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.87sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.87sINFOwaypoint_manager_node[2026-09-14 08:28:48.897] [moveit_pro_license] [info] ×2 + 6.87sINFOwaypoint_manager_node************************************************* ×4 + 6.87sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.87sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758713 ms (missed cycles : 4). + 6.87sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758713 ms (missed cycles : 4).[0m ×2 + 6.87sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.35sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.36sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.36sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.51sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.52sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.52sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.52sWARNros2_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 + 7.52sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.52sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.52sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.52sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.52sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.52sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.52sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.52sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.52sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.52sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.52sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.52sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.52sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.52sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.52sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.52sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.52sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.52sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.52sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.52sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.52sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.52sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.52sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.52sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.52sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.52sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.52sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.52sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.52sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.52sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.52sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.70sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.70sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.70sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.70sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.71sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 7.71sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 7.81sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.81sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.81sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.83sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 7.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.83sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 7.84sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 7.84sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.84sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 7.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.84sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 7.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.85sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.87sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.90sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.94sINFOobjective_server_node[2026-09-14 08:28:49.968] [moveit_pro_license] [info] ×2 + 7.94sINFOobjective_server_node************************************************* ×4 + 7.94sINFOobjective_server_node* MoveIt Pro License ×2 + 7.94sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789423 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789423 ms (missed cycles : 2).[0m ×2 + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.99sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.02sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.02sINFOobjective_server_nodeLoaded robot model in 0.0379995 seconds[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.02sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.02sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.02sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.02sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.02sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.03sINFOstreaming_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) + 8.03sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.03sINFOcomponent_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 + 8.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.11sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.11sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.12sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.12sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.12sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.12sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.12sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 8.12sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 8.13sWARNcomponent_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 + 8.16sINFOros2-19process has finished cleanly [pid 7801] ×2 + 8.18sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.18sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.20sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.20sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.20sINFOforce_torque_sensor_broadcasterconfigure successful + 8.20sINFOros2_control_nodeconfigure successful[0m ×6 + 8.20sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.21sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.21sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.25sINFOmoveit_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 + 8.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.28sINFOstreaming_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) + 8.28sINFOcomponent_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 + 8.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.28sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.43sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.43sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.51sINFOcomponent_container_mtLoaded robot model in 0.381462 seconds[0m ×2 + 8.51sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.51sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.52sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.53sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.53sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.53sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.53sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.53sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.53sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.56sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.56sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.58sINFOros2-13process has finished cleanly [pid 7791] ×2 + 8.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.66sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 8.66sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 8.71sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.71sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.71sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.71sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.73sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.73sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.76sINFOmove_groupMoveGroup debug mode is ON + 8.76sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.76sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.80sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.80sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.80sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.81sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.81sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.81sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.81sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.85sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.91sINFOmove_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 ****************************************************** + 8.91sINFOmove_group ×8 + 8.91sINFOmove_group****************************************************** ×4 + 8.91sINFOmove_group* MoveGroup using: ×2 + 8.91sINFOmove_group* - apply_planning_scene_service ×2 + 8.91sINFOmove_group* - clear_octomap_service ×2 + 8.91sINFOmove_group* - get_group_urdf ×2 + 8.92sINFOmove_group* - load_geometry_from_file ×2 + 8.92sINFOmove_group* - get_planning_scene_service ×2 + 8.92sINFOmove_group* - kinematics_service ×2 + 8.92sINFOmove_group* - save_geometry_to_file ×2 + 8.92sINFOmove_group* - GetPlanningGroups ×2 + 8.92sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.92sINFOmove_group[0m ×2 + 8.92sINFOmove_group[92mYou can start planning now![0m ×2 + 9.07sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.07sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.08sINFOcomponent_container_mt[2026-09-14 08:28:51.108] [moveit_pro_license] [info] ×2 + 9.08sINFOcomponent_container_mt************************************************* ×4 + 9.08sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.08sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.09sINFOros2_control_node[2026-09-14 08:28:51.119] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.09sINFOros2_control_node[2026-09-14 08:28:51.122] [info] Controller state will be published at 10 Hz. ×2 + 9.09sINFOros2_control_node[2026-09-14 08:28:51.123] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879442 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879442 ms (missed cycles : 3).[0m ×2 + 9.40sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.40sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.40sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.40sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.40sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 9.40sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 9.42sINFOros2-21process has finished cleanly [pid 7807] ×2 + 9.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 9.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 9.47sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 9.47sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 9.47sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 9.47sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 9.47sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 9.47sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 9.49sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.49sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.69sWARNros2_control_nodeCamera render tick took 0.98 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.73sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.73sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.74sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.74sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.81sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.82sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 9.82sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 9.84sINFOros2-14process has finished cleanly [pid 7796] ×2 + 9.87sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.88sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.88sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.88sINFOplatform_velocity_controller_nav2configure successful + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052919 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052919 ms (missed cycles : 2).[0m ×2 + 10.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 10.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 10.24sINFOros2-18process has finished cleanly [pid 7800] ×2 + 10.25sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.25sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.25sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.25sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.25sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.25sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.26sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.26sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.27sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.27sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.38sWARNros2_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 + 10.40sINFOlocal_costmap.local_costmapstart + 10.48sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 10.55sWARNcontroller_serverParameter controller_server.verbose not found + 10.56sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 10.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 10.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 10.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 10.59sINFOros2-15process has finished cleanly [pid 7797] ×2 + 10.63sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 10.63sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 10.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 10.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 10.66sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 10.66sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 10.66sINFOsmoother_serverActivating + 10.66sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.76sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789374530.747 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.77sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.77sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.77sINFOplanner_serverActivating + 10.77sINFOglobal_costmap.global_costmapActivating + 10.77sINFOglobal_costmap.global_costmapChecking transform + 10.77sINFOglobal_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. + 10.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.97sINFOros2_control_node[2026-09-14 08:28:52.998] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.97sINFOros2_control_node[2026-09-14 08:28:53.000] [info] Controller state will be published at 10 Hz. ×2 + 10.97sINFOros2_control_node[2026-09-14 08:28:53.002] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.07sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 5.214ms + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454953 ms (missed cycles : 3). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454953 ms (missed cycles : 3).[0m ×2 + 11.27sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789374533.265234, but only time 1789374533.411071 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.28sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.28sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.31sINFOros2-20process has finished cleanly [pid 7802] ×2 + 11.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 11.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 11.42sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.42sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.52sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.77sINFOglobal_costmap.global_costmapstart + 11.86sINFOros2_control_node[2026-09-14 08:28:53.888] [info] Controller state will be published at 20 Hz. ×2 + 11.86sINFOros2_control_node[2026-09-14 08:28:53.889] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.19sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.19sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.19sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.19sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.19sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 12.19sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 12.20sINFOros2-22process has finished cleanly [pid 7808] ×2 + 12.24sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.24sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.24sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.24sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874040 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874040 ms (missed cycles : 2).[0m ×2 + 12.63sINFOros2_control_node[2026-09-14 08:28:54.658] [info] Controller state will be published at 20 Hz. ×2 + 12.63sINFOros2_control_node[2026-09-14 08:28:54.659] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.82sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 12.82sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 12.93sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 12.93sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 12.93sINFObehavior_serverActivating + 12.93sINFObehavior_serverActivating spin + 12.93sINFObehavior_serverActivating backup + 12.93sINFObehavior_serverActivating drive_on_heading + 12.93sINFObehavior_serverActivating assisted_teleop + 12.93sINFObehavior_serverActivating wait + 12.93sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 12.96sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.96sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 12.96sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.96sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 12.96sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 12.96sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 12.97sINFOros2-23process has finished cleanly [pid 7809] ×2 + 13.03sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 13.03sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.03sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.03sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 13.03sINFObt_navigatorActivating + 13.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.04sINFOplatform_velocity_controllerconfigure successful + 13.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.05sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 13.06sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 13.11sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.21sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.21sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.21sINFOwaypoint_followerActivating + 13.21sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112686 ms (missed cycles : 4). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112686 ms (missed cycles : 4).[0m ×2 + 13.33sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.33sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.33sINFOvelocity_smootherActivating + 13.33sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.36sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 13.36sINFOcontroller_managerLoading controller 'vacuum_gripper' + 13.36sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 13.36sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 13.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu + 13.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_m1z8ivt7 --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_xu_88prd --params-file /tmp/launch_params__gwrlmyu [0m ×2 + 13.38sINFOros2-16process has finished cleanly [pid 7798] ×2 + 13.39sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 13.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 13.41sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 13.41sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 13.42sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 13.42sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 13.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 13.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 13.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 13.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 13.43sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 13.43sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 13.43sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.43sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.43sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 13.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.62sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.62sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.76sINFOros2-17process has finished cleanly [pid 7799] ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186844 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186844 ms (missed cycles : 2).[0m ×2 + 15.23sWARNros2_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 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346882 ms (missed cycles : 3). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346882 ms (missed cycles : 3).[0m ×2 + 15.84sWARNros2_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 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 17.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 18.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.75sINFOobjective_server_nodecaller: ×10 + 18.75sINFOobjective_server_nodetype: 0 ×10 + 18.75sINFOobjective_server_nodename: "" ×10 + 18.75sINFOobjective_server_nodeinstance_id: "" ×10 + 18.75sINFOobjective_server_node ×10 + 18.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 18.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 18.79sINFOmove_groupClearing octomap...[0m ×4 + 18.79sINFOmove_groupOctomap cleared.[0m ×4 + 18.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 18.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 18.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 19.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 19.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 20.36sWARNros2_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 + 20.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 20.94sWARNros2_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 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 21.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.33sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.8s	3 errors · 289 warnings · 253 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834789 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834789 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 0.34sWARNros2_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 ×6 + 0.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.708ms + 0.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.686ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367820 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367820 ms (missed cycles : 2).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.054ms + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.137ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407988 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407988 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.037ms + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOjoint_trajectory_controllerGot request to cancel goal + 3.09sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.09sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.09sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.12sERRORobjective_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: 1789374752.13101983 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807957 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807957 ms (missed cycles : 2).[0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-0.43, 2.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-1.33, 2.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.452ms + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789374752.71250916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.731ms + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329538 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329538 ms (missed cycles : 4).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169998 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169998 ms (missed cycles : 2).[0m ×2 + 5.57sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.59sWARNros2_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 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921461 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921461 ms (missed cycles : 2).[0m ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.44sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492163 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492163 ms (missed cycles : 3).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560155 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560155 ms (missed cycles : 3).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.397ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517468 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517468 ms (missed cycles : 3).[0m ×2 + 10.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.923ms + 10.61sWARNros2_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 + 10.63sWARNros2_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 + 10.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.450ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416830 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416830 ms (missed cycles : 3).[0m ×2 + 11.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.150ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560808 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560808 ms (missed cycles : 3).[0m ×2 + 11.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 12.44sINFOamclParticle filter update iteration stats: 3451 particles 723 points - 7.529ms + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367314 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367314 ms (missed cycles : 3).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 4.512ms + 13.60sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 2.800ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177695 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177695 ms (missed cycles : 2).[0m ×2 + 14.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms ×3 + 14.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070259 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070259 ms (missed cycles : 3).[0m ×2 + 15.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 15.90sWARNros2_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 + 15.92sWARNros2_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 + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318525 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318525 ms (missed cycles : 2).[0m ×2 + 16.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294732 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294732 ms (missed cycles : 2).[0m ×2 + 17.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.276ms + 17.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008524 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008524 ms (missed cycles : 2).[0m ×2 + 18.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 18.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558650 ms (missed cycles : 3). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558650 ms (missed cycles : 3).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms ×2 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868694 ms (missed cycles : 3). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868694 ms (missed cycles : 3).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154394 ms (missed cycles : 2). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154394 ms (missed cycles : 2).[0m ×2 + 21.49sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 21.51sWARNros2_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 ×4 + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 22.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540367 ms (missed cycles : 3). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540367 ms (missed cycles : 3).[0m ×2 + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461486 ms (missed cycles : 3). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461486 ms (missed cycles : 3).[0m ×2 + 23.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090559 ms (missed cycles : 5). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090559 ms (missed cycles : 5).[0m ×2 + 25.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.163ms + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531643 ms (missed cycles : 3). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531643 ms (missed cycles : 3).[0m ×2 + 25.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265621 ms (missed cycles : 2). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265621 ms (missed cycles : 2).[0m ×2 + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms ×2 + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950093 ms (missed cycles : 2). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950093 ms (missed cycles : 2).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.152265 ms (missed cycles : 4). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.152265 ms (missed cycles : 4).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 30.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852947 ms (missed cycles : 3). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852947 ms (missed cycles : 3).[0m ×2 + 30.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 31.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.152ms + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855378 ms (missed cycles : 4). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855378 ms (missed cycles : 4).[0m ×2 + 32.11sWARNros2_control_nodeCamera render tick took 0.66 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 32.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187412 ms (missed cycles : 2). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187412 ms (missed cycles : 2).[0m ×2 + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.799ms + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409802 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409802 ms (missed cycles : 2).[0m ×2 + 34.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244695 ms (missed cycles : 2). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244695 ms (missed cycles : 2).[0m ×2 + 34.81sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.81sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.40sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752123 ms (missed cycles : 2). + 35.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752123 ms (missed cycles : 2).[0m ×2 + 36.29sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982226 ms (missed cycles : 2). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982226 ms (missed cycles : 2).[0m ×2 + 37.72sWARNros2_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 + 37.74sWARNros2_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 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637137 ms (missed cycles : 3). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637137 ms (missed cycles : 3).[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015863 ms (missed cycles : 3). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015863 ms (missed cycles : 3).[0m ×2 + 39.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 40.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281765 ms (missed cycles : 2). + 40.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281765 ms (missed cycles : 2).[0m ×2 + 40.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 40.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 41.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681087 ms (missed cycles : 2). + 41.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681087 ms (missed cycles : 2).[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888888 ms (missed cycles : 2). + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888888 ms (missed cycles : 2).[0m ×2 + 42.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261767 ms (missed cycles : 5). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261767 ms (missed cycles : 5).[0m ×2 + 43.24sWARNros2_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 + 43.26sWARNros2_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 + 44.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051313 ms (missed cycles : 4). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051313 ms (missed cycles : 4).[0m ×2 + 45.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 45.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681090 ms (missed cycles : 2). + 45.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681090 ms (missed cycles : 2).[0m ×2 + 46.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237097 ms (missed cycles : 4). + 46.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237097 ms (missed cycles : 4).[0m ×2 + 46.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862213 ms (missed cycles : 3). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862213 ms (missed cycles : 3).[0m ×2 + 48.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077855 ms (missed cycles : 2). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077855 ms (missed cycles : 2).[0m ×2 + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327977 ms (missed cycles : 2). + 49.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327977 ms (missed cycles : 2).[0m ×2 + 50.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 50.09sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 50.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278398 ms (missed cycles : 2). + 50.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278398 ms (missed cycles : 2).[0m ×2 + 51.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367300 ms (missed cycles : 3). + 51.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367300 ms (missed cycles : 3).[0m ×2 + 52.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885250 ms (missed cycles : 3). + 52.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885250 ms (missed cycles : 3).[0m ×2 + 53.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352668 ms (missed cycles : 4). + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352668 ms (missed cycles : 4).[0m ×2 + 54.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 55.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088201 ms (missed cycles : 2). + 55.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088201 ms (missed cycles : 2).[0m ×2 + 55.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.598ms + 56.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699187 ms (missed cycles : 2). + 56.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699187 ms (missed cycles : 2).[0m ×2 + 56.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572393 ms (missed cycles : 4). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572393 ms (missed cycles : 4).[0m ×2 + 58.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089436 ms (missed cycles : 2). + 58.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089436 ms (missed cycles : 2).[0m ×2 + 58.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 59.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905372 ms (missed cycles : 2). + 59.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905372 ms (missed cycles : 2).[0m ×2 + 60.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089766 ms (missed cycles : 2). + 60.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089766 ms (missed cycles : 2).[0m ×2 + 61.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008050 ms (missed cycles : 2). + 61.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008050 ms (missed cycles : 2).[0m ×2 + 62.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443273 ms (missed cycles : 3). + 62.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443273 ms (missed cycles : 3).[0m ×2 + 63.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207214 ms (missed cycles : 2). + 63.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207214 ms (missed cycles : 2).[0m ×2 + 64.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 65.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831718 ms (missed cycles : 2). + 65.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831718 ms (missed cycles : 2).[0m ×2 + 66.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340194 ms (missed cycles : 2). + 66.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340194 ms (missed cycles : 2).[0m ×2 + 66.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 67.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079918 ms (missed cycles : 4). + 67.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079918 ms (missed cycles : 4).[0m ×2 + 67.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.729ms + 68.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776075 ms (missed cycles : 5). + 68.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776075 ms (missed cycles : 5).[0m ×2 + 68.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.379ms + 68.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789374817.91266418 seconds ×3 + 69.03sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 69.03sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 69.33sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.33sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511541 ms (missed cycles : 3). + 69.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511541 ms (missed cycles : 3).[0m ×2 + 69.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.45sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789374818.49731016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.641ms + 70.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213097 ms (missed cycles : 2). + 70.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213097 ms (missed cycles : 2).[0m ×2 + 71.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685891 ms (missed cycles : 3). + 71.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685891 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	239 warnings · 200 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.49sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789374824.36743975 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sWARNros2_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 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.04sINFOobjective_server_nodecaller: ×4 + 3.04sINFOobjective_server_nodetype: 0 ×4 + 3.04sINFOobjective_server_nodename: "" ×4 + 3.04sINFOobjective_server_nodeinstance_id: "" ×4 + 3.04sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789374824.96200848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.82sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.82sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900567 ms (missed cycles : 4). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900567 ms (missed cycles : 4).[0m ×2 + 7.75sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035148 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035148 ms (missed cycles : 2).[0m ×2 + 8.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.583ms + 8.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.871ms + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184712 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184712 ms (missed cycles : 2).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.965ms + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.677ms + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998031 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998031 ms (missed cycles : 2).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.764ms + 11.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.455ms + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487249 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487249 ms (missed cycles : 3).[0m ×2 + 11.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.016ms + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291497 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291497 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 13.06sWARNros2_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 + 13.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 13.10sINFOamclParticle filter update iteration stats: 4311 particles 723 points - 7.511ms + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926043 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926043 ms (missed cycles : 2).[0m ×2 + 13.66sINFOamclParticle filter update iteration stats: 3055 particles 723 points - 6.535ms + 14.25sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 4.864ms + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131829 ms (missed cycles : 5). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131829 ms (missed cycles : 5).[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 4.172ms + 15.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628362 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628362 ms (missed cycles : 2).[0m ×2 + 16.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.546ms + 16.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765840 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765840 ms (missed cycles : 3).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 17.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541790 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541790 ms (missed cycles : 2).[0m ×2 + 18.44sWARNros2_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 + 18.46sWARNros2_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 + 18.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 19.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293024 ms (missed cycles : 2). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293024 ms (missed cycles : 2).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094060 ms (missed cycles : 2). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094060 ms (missed cycles : 2).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522450 ms (missed cycles : 3). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522450 ms (missed cycles : 3).[0m ×2 + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 22.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546323 ms (missed cycles : 3). + 22.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546323 ms (missed cycles : 3).[0m ×2 + 22.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 23.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011923 ms (missed cycles : 4). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011923 ms (missed cycles : 4).[0m ×2 + 23.93sWARNros2_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 + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373596 ms (missed cycles : 3). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373596 ms (missed cycles : 3).[0m ×2 + 24.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 25.19sINFOamclParticle 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 4.497637 ms (missed cycles : 3). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497637 ms (missed cycles : 3).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.478ms + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953393 ms (missed cycles : 3). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953393 ms (missed cycles : 3).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291986 ms (missed cycles : 2). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291986 ms (missed cycles : 2).[0m ×2 + 27.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442507 ms (missed cycles : 5). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442507 ms (missed cycles : 5).[0m ×2 + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 29.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061020 ms (missed cycles : 2). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061020 ms (missed cycles : 2).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023066 ms (missed cycles : 4). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023066 ms (missed cycles : 4).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.253ms + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993442 ms (missed cycles : 3). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993442 ms (missed cycles : 3).[0m ×2 + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 32.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548891 ms (missed cycles : 3). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548891 ms (missed cycles : 3).[0m ×2 + 33.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131872 ms (missed cycles : 3). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131872 ms (missed cycles : 3).[0m ×2 + 34.23sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785287 ms (missed cycles : 2). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785287 ms (missed cycles : 2).[0m ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153615 ms (missed cycles : 2). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153615 ms (missed cycles : 2).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350264 ms (missed cycles : 3). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350264 ms (missed cycles : 3).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593526 ms (missed cycles : 3). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593526 ms (missed cycles : 3).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672368 ms (missed cycles : 4). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672368 ms (missed cycles : 4).[0m ×2 + 40.06sWARNros2_control_nodeCamera render tick took 0.67 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 40.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.69 s); lidar_front (0.69 s); lidar_rear (0.69 s); wrist_camera (0.69 s). The render path has stopped producing new frames for them.[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273655 ms (missed cycles : 2). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273655 ms (missed cycles : 2).[0m ×2 + 41.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 41.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951488 ms (missed cycles : 3). + 41.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951488 ms (missed cycles : 3).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674776 ms (missed cycles : 3). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674776 ms (missed cycles : 3).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961923 ms (missed cycles : 2). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961923 ms (missed cycles : 2).[0m ×2 + 44.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231100 ms (missed cycles : 2). + 44.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231100 ms (missed cycles : 2).[0m ×2 + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009840 ms (missed cycles : 3). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009840 ms (missed cycles : 3).[0m ×2 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687424 ms (missed cycles : 3). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687424 ms (missed cycles : 3).[0m ×2 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584096 ms (missed cycles : 3). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584096 ms (missed cycles : 3).[0m ×2 + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883156 ms (missed cycles : 2). + 49.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883156 ms (missed cycles : 2).[0m ×2 + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278539 ms (missed cycles : 3).[0m ×2 + 51.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668986 ms (missed cycles : 2). + 51.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668986 ms (missed cycles : 2).[0m ×2 + 52.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619092 ms (missed cycles : 3). + 52.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619092 ms (missed cycles : 3).[0m ×2 + 52.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931988 ms (missed cycles : 4). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931988 ms (missed cycles : 4).[0m ×2 + 54.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072841 ms (missed cycles : 5). + 54.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072841 ms (missed cycles : 5).[0m ×2 + 55.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.654588 ms (missed cycles : 4). + 55.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.654588 ms (missed cycles : 4).[0m ×2 + 55.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 56.22sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 56.24sWARNros2_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 + 56.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898553 ms (missed cycles : 3). + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898553 ms (missed cycles : 3).[0m ×2 + 57.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652327 ms (missed cycles : 3). + 57.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652327 ms (missed cycles : 3).[0m ×2 + 58.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476890 ms (missed cycles : 3). + 58.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476890 ms (missed cycles : 3).[0m ×2 + 59.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.607ms + 59.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789374881.70213914 seconds ×3 + 59.85sWARNlocal_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. + 59.85sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917592 ms (missed cycles : 2). + 59.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917592 ms (missed cycles : 2).[0m ×2 + 59.95sWARNlocal_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 + 59.95sWARNlocal_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 + 60.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789374882.28814125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.396ms + 60.78sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 61.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501211 ms (missed cycles : 3). + 61.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501211 ms (missed cycles : 3).[0m ×2 + 61.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.64sWARNros2_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 + 61.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 62.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778208 ms (missed cycles : 2). + 62.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778208 ms (missed cycles : 2).[0m ×2 + 63.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458545 ms (missed cycles : 3). + 63.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458545 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	239 warnings · 206 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 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764750 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764750 ms (missed cycles : 2).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.286ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206312 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206312 ms (missed cycles : 2).[0m ×2 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 3.20sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789374592.48477769 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789374593.07707644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286229 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286229 ms (missed cycles : 2).[0m ×2 + 4.03sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 2.419ms + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304373 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304373 ms (missed cycles : 2).[0m ×2 + 5.16sWARNros2_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 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489616 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489616 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.41sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.41sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080348 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080348 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102094 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102094 ms (missed cycles : 2).[0m ×2 + 8.56sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 3.776ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692400 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692400 ms (missed cycles : 3).[0m ×2 + 9.68sWARNros2_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 + 9.72sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 3.611ms + 10.31sWARNros2_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 + 10.32sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 3.082ms + 10.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105852 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105852 ms (missed cycles : 2).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670221 ms (missed cycles : 4). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670221 ms (missed cycles : 4).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249416 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249416 ms (missed cycles : 2).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.896ms + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573618 ms (missed cycles : 3). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573618 ms (missed cycles : 3).[0m ×2 + 14.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 15.03sWARNros2_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 ×10 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758978 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758978 ms (missed cycles : 2).[0m ×2 + 15.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.252ms + 15.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638799 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638799 ms (missed cycles : 3).[0m ×2 + 16.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.194ms + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698825 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698825 ms (missed cycles : 2).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531353 ms (missed cycles : 3). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531353 ms (missed cycles : 3).[0m ×2 + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748630 ms (missed cycles : 3). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748630 ms (missed cycles : 3).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.272071 ms (missed cycles : 7). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.272071 ms (missed cycles : 7).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 21.02sWARNros2_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 + 21.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887217 ms (missed cycles : 3). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887217 ms (missed cycles : 3).[0m ×2 + 21.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms ×2 + 22.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772845 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772845 ms (missed cycles : 2).[0m ×2 + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192030 ms (missed cycles : 2). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192030 ms (missed cycles : 2).[0m ×2 + 24.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793256 ms (missed cycles : 5). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793256 ms (missed cycles : 5).[0m ×2 + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 25.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661114 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661114 ms (missed cycles : 3).[0m ×2 + 25.82sWARNros2_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 + 25.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 26.44sWARNros2_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 ×6 + 26.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788117 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788117 ms (missed cycles : 2).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222463 ms (missed cycles : 2). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222463 ms (missed cycles : 2).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677816 ms (missed cycles : 3). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677816 ms (missed cycles : 3).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140723 ms (missed cycles : 2). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140723 ms (missed cycles : 2).[0m ×2 + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831531 ms (missed cycles : 3). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831531 ms (missed cycles : 3).[0m ×2 + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 31.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620799 ms (missed cycles : 3). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620799 ms (missed cycles : 3).[0m ×2 + 32.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 33.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms ×2 + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000839 ms (missed cycles : 4). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000839 ms (missed cycles : 4).[0m ×2 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762950 ms (missed cycles : 3). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762950 ms (missed cycles : 3).[0m ×2 + 34.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.123ms + 34.83sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2).[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519341 ms (missed cycles : 4). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519341 ms (missed cycles : 4).[0m ×2 + 36.80sWARNros2_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 + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403645 ms (missed cycles : 3). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403645 ms (missed cycles : 3).[0m ×2 + 38.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629072 ms (missed cycles : 4). + 38.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629072 ms (missed cycles : 4).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483058 ms (missed cycles : 3). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483058 ms (missed cycles : 3).[0m ×2 + 40.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447768 ms (missed cycles : 3). + 40.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447768 ms (missed cycles : 3).[0m ×2 + 41.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248313 ms (missed cycles : 2). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248313 ms (missed cycles : 2).[0m ×2 + 43.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726201 ms (missed cycles : 2). + 43.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726201 ms (missed cycles : 2).[0m ×2 + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518309 ms (missed cycles : 4). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518309 ms (missed cycles : 4).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963622 ms (missed cycles : 5). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963622 ms (missed cycles : 5).[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718741 ms (missed cycles : 4). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718741 ms (missed cycles : 4).[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826722 ms (missed cycles : 3). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826722 ms (missed cycles : 3).[0m ×2 + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091611 ms (missed cycles : 3). + 48.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091611 ms (missed cycles : 3).[0m ×2 + 49.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941619 ms (missed cycles : 3). + 49.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941619 ms (missed cycles : 3).[0m ×2 + 50.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 50.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395185 ms (missed cycles : 4). + 50.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395185 ms (missed cycles : 4).[0m ×2 + 51.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822814 ms (missed cycles : 3). + 51.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822814 ms (missed cycles : 3).[0m ×2 + 52.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 52.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805202 ms (missed cycles : 2). + 52.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805202 ms (missed cycles : 2).[0m ×2 + 53.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072494 ms (missed cycles : 2). + 53.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072494 ms (missed cycles : 2).[0m ×2 + 54.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473103 ms (missed cycles : 3). + 54.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473103 ms (missed cycles : 3).[0m ×2 + 55.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365641 ms (missed cycles : 3). + 55.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365641 ms (missed cycles : 3).[0m ×2 + 56.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 56.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114511 ms (missed cycles : 2). + 56.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114511 ms (missed cycles : 2).[0m ×2 + 57.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3). + 57.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3).[0m ×2 + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3).[0m ×2 + 60.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2). + 60.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2).[0m ×2 + 60.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789374649.67722106 seconds ×3 + 60.48sWARNlocal_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 + 60.48sWARNlocal_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 + 60.68sWARNlocal_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. ×5 + 60.68sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.97sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.01sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789374650.26552367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 61.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 + 61.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 61.41sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 61.75sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2). + 62.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2).[0m ×2 + 63.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3). + 63.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.5s	249 warnings · 219 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429403 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429403 ms (missed cycles : 3).[0m ×2 + 0.09sWARNros2_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 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836052 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836052 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365041 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365041 ms (missed cycles : 2).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.91sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.94sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789374688.81004333 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.27sWARNlocal_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 + 3.27sWARNlocal_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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307914 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307914 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789374689.38881803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.053ms + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176485 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176485 ms (missed cycles : 2).[0m ×2 + 4.94sWARNros2_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 + 5.51sWARNros2_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 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134980 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134980 ms (missed cycles : 2).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.25sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.25sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.25sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326923 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326923 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184169 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184169 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144327 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144327 ms (missed cycles : 2).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.282ms + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.502ms + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921575 ms (missed cycles : 5). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921575 ms (missed cycles : 5).[0m ×2 + 10.03sWARNros2_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 + 10.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.754ms + 10.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 10.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.420ms + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180402 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180402 ms (missed cycles : 2).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.327ms + 11.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.907ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175765 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175765 ms (missed cycles : 2).[0m ×2 + 12.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 13.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.060ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292845 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292845 ms (missed cycles : 2).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 4425 particles 723 points - 7.359ms + 14.18sINFOamclParticle filter update iteration stats: 2794 particles 723 points - 6.115ms + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032554 ms (missed cycles : 4). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032554 ms (missed cycles : 4).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 3.623ms + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480902 ms (missed cycles : 4). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480902 ms (missed cycles : 4).[0m ×2 + 15.34sWARNros2_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 + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 15.99sWARNros2_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 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888077 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888077 ms (missed cycles : 2).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.131ms + 17.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599886 ms (missed cycles : 4). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599886 ms (missed cycles : 4).[0m ×2 + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363503 ms (missed cycles : 3). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363503 ms (missed cycles : 3).[0m ×2 + 19.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704871 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704871 ms (missed cycles : 2).[0m ×2 + 20.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 20.73sWARNros2_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 + 20.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930762 ms (missed cycles : 2). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930762 ms (missed cycles : 2).[0m ×2 + 21.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088973 ms (missed cycles : 2). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088973 ms (missed cycles : 2).[0m ×2 + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251045 ms (missed cycles : 2). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251045 ms (missed cycles : 2).[0m ×2 + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.806ms + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117777 ms (missed cycles : 3). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117777 ms (missed cycles : 3).[0m ×2 + 24.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.404ms + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714179 ms (missed cycles : 2). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714179 ms (missed cycles : 2).[0m ×2 + 25.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.076ms + 26.23sWARNros2_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 ×6 + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.501ms + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996496 ms (missed cycles : 3). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996496 ms (missed cycles : 3).[0m ×2 + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 27.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315506 ms (missed cycles : 4). + 27.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315506 ms (missed cycles : 4).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 28.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542595 ms (missed cycles : 3). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542595 ms (missed cycles : 3).[0m ×2 + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658477 ms (missed cycles : 3). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658477 ms (missed cycles : 3).[0m ×2 + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965086 ms (missed cycles : 2). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965086 ms (missed cycles : 2).[0m ×2 + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 31.70sWARNros2_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 + 31.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms ×2 + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834435 ms (missed cycles : 3). + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834435 ms (missed cycles : 3).[0m ×2 + 32.35sWARNros2_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 + 32.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 32.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992904 ms (missed cycles : 2). + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992904 ms (missed cycles : 2).[0m ×2 + 33.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892254 ms (missed cycles : 2). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892254 ms (missed cycles : 2).[0m ×2 + 34.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.595ms + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622554 ms (missed cycles : 3). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622554 ms (missed cycles : 3).[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108431 ms (missed cycles : 2). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108431 ms (missed cycles : 2).[0m ×2 + 36.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117592 ms (missed cycles : 2). + 36.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117592 ms (missed cycles : 2).[0m ×2 + 37.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350487 ms (missed cycles : 2). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350487 ms (missed cycles : 2).[0m ×2 + 38.21sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.97sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757873 ms (missed cycles : 3). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757873 ms (missed cycles : 3).[0m ×2 + 40.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963327 ms (missed cycles : 3). + 40.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963327 ms (missed cycles : 3).[0m ×2 + 41.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918766 ms (missed cycles : 3). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918766 ms (missed cycles : 3).[0m ×2 + 41.75sWARNros2_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 + 41.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 42.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161500 ms (missed cycles : 2). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161500 ms (missed cycles : 2).[0m ×2 + 43.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230368 ms (missed cycles : 2). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230368 ms (missed cycles : 2).[0m ×2 + 43.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 44.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131187 ms (missed cycles : 2). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131187 ms (missed cycles : 2).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061798 ms (missed cycles : 2). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061798 ms (missed cycles : 2).[0m ×2 + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280137 ms (missed cycles : 2). + 46.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280137 ms (missed cycles : 2).[0m ×2 + 47.42sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 47.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986101 ms (missed cycles : 3). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986101 ms (missed cycles : 3).[0m ×2 + 48.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 48.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315499 ms (missed cycles : 4). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315499 ms (missed cycles : 4).[0m ×2 + 49.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 49.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132400 ms (missed cycles : 2). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132400 ms (missed cycles : 2).[0m ×2 + 50.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 51.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397386 ms (missed cycles : 3). + 51.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397386 ms (missed cycles : 3).[0m ×2 + 51.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 52.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143735 ms (missed cycles : 2). + 52.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143735 ms (missed cycles : 2).[0m ×2 + 53.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673871 ms (missed cycles : 3). + 53.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673871 ms (missed cycles : 3).[0m ×2 + 53.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 54.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786405 ms (missed cycles : 6). + 54.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786405 ms (missed cycles : 6).[0m ×2 + 54.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 55.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789374741.28896379 seconds ×3 + 55.57sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.57sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946530 ms (missed cycles : 2). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946530 ms (missed cycles : 2).[0m ×2 + 55.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.96sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.01sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789374741.87556219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.827ms + 56.07sWARNlocal_costmap.local_costmapSensor origin at (-0.80, 5.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 56.07sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 5.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 56.43sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 56.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.051ms + 56.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283085 ms (missed cycles : 3). + 56.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283085 ms (missed cycles : 3).[0m ×2 + 57.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710714 ms (missed cycles : 4). + 57.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710714 ms (missed cycles : 4).[0m ×2 + 58.28sWARNros2_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 + 58.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021745 ms (missed cycles : 2). + 58.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021745 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	181 warnings · 392 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.98sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.98sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.98sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.98sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.98sINFOobjective_server_nodecaller: ×12 + 0.98sINFOobjective_server_nodetype: 0 ×12 + 0.98sINFOobjective_server_nodename: "" ×12 + 0.98sINFOobjective_server_nodeinstance_id: "" ×12 + 0.98sINFOobjective_server_node ×12 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.02sINFOmove_groupClearing octomap...[0m ×4 + 1.02sINFOmove_groupOctomap cleared.[0m ×4 + 1.02sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.59sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.17sWARNros2_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 ×12 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926181 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926181 ms (missed cycles : 4).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159685 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159685 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257530 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257530 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965771 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965771 ms (missed cycles : 3).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008601 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008601 ms (missed cycles : 2).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809853 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809853 ms (missed cycles : 3).[0m ×2 + 12.88sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212040 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212040 ms (missed cycles : 2).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423143 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423143 ms (missed cycles : 2).[0m ×2 + 14.61sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.644ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077015 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077015 ms (missed cycles : 2).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728161 ms (missed cycles : 5). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728161 ms (missed cycles : 5).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747585 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747585 ms (missed cycles : 3).[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835008 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835008 ms (missed cycles : 2).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089476 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089476 ms (missed cycles : 2).[0m ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195216 ms (missed cycles : 2). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195216 ms (missed cycles : 2).[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771534 ms (missed cycles : 2). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771534 ms (missed cycles : 2).[0m ×2 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818181 ms (missed cycles : 2). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818181 ms (missed cycles : 2).[0m ×2 + 23.15sWARNros2_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 + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562293 ms (missed cycles : 2). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562293 ms (missed cycles : 2).[0m ×2 + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037229 ms (missed cycles : 2). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037229 ms (missed cycles : 2).[0m ×2 + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135711 ms (missed cycles : 3). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135711 ms (missed cycles : 3).[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048703 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048703 ms (missed cycles : 2).[0m ×2 + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401950 ms (missed cycles : 3). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401950 ms (missed cycles : 3).[0m ×2 + 28.32sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827984 ms (missed cycles : 4). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827984 ms (missed cycles : 4).[0m ×2 + 28.91sWARNros2_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 + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090009 ms (missed cycles : 4). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090009 ms (missed cycles : 4).[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786329 ms (missed cycles : 2). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786329 ms (missed cycles : 2).[0m ×2 + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677878 ms (missed cycles : 2). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677878 ms (missed cycles : 2).[0m ×2 + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621645 ms (missed cycles : 2). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621645 ms (missed cycles : 2).[0m ×2 + 34.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 34.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831367 ms (missed cycles : 3). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831367 ms (missed cycles : 3).[0m ×2 + 35.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866047 ms (missed cycles : 4). + 35.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866047 ms (missed cycles : 4).[0m ×2 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615187 ms (missed cycles : 4). + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615187 ms (missed cycles : 4).[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693364 ms (missed cycles : 2). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693364 ms (missed cycles : 2).[0m ×2 + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283603 ms (missed cycles : 2). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283603 ms (missed cycles : 2).[0m ×2 + 39.17sWARNros2_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 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907387 ms (missed cycles : 2). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907387 ms (missed cycles : 2).[0m ×2 + 41.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812661 ms (missed cycles : 3). + 41.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812661 ms (missed cycles : 3).[0m ×2 + 42.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582224 ms (missed cycles : 3). + 42.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582224 ms (missed cycles : 3).[0m ×2 + 42.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984423 ms (missed cycles : 2). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984423 ms (missed cycles : 2).[0m ×2 + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273973 ms (missed cycles : 3). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273973 ms (missed cycles : 3).[0m ×2 + 45.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588826 ms (missed cycles : 3). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588826 ms (missed cycles : 3).[0m ×2 + 46.52sINFOjoint_trajectory_controllerGoal reached, success! + 46.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789374586.33886671 seconds ×3 + 46.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827600 ms (missed cycles : 2). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827600 ms (missed cycles : 2).[0m ×2 + 47.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.07sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789374586.91464686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791673 ms (missed cycles : 3). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791673 ms (missed cycles : 3).[0m ×2 + 48.23sINFOobjective_server_nodeFound path in 0 iterations (3.399e-05 s). ×2 + 48.30sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.87sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311852 ms (missed cycles : 2). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311852 ms (missed cycles : 2).[0m ×2 + 50.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	152 warnings · 183 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662168 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662168 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538577 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538577 ms (missed cycles : 4).[0m ×2 + 1.24sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.24sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.28sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789374656.06610370 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679697 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679697 ms (missed cycles : 2).[0m ×2 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.83sINFOobjective_server_nodename: "" ×4 + 2.83sINFOobjective_server_nodeinstance_id: "" ×4 + 2.83sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789374657.64980459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423813 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423813 ms (missed cycles : 4).[0m ×2 + 3.50sWARNros2_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 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004443 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004443 ms (missed cycles : 2).[0m ×2 + 4.80sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049096 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049096 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153402 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153402 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127870 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127870 ms (missed cycles : 3).[0m ×2 + 8.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.045ms + 8.59sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.813ms + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513859 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513859 ms (missed cycles : 3).[0m ×2 + 9.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 9.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.795ms + 9.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.018ms + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186219 ms (missed cycles : 4). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186219 ms (missed cycles : 4).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.090ms + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130122 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130122 ms (missed cycles : 2).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.900ms + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.263ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246047 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246047 ms (missed cycles : 2).[0m ×2 + 12.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.215ms + 12.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.313ms + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901238 ms (missed cycles : 5). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901238 ms (missed cycles : 5).[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.280ms + 13.86sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 13.91sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 7.234ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723643 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723643 ms (missed cycles : 3).[0m ×2 + 14.52sWARNros2_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 + 14.53sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 6.120ms + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790601 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790601 ms (missed cycles : 3).[0m ×2 + 15.13sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 5.324ms + 15.75sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 3.263ms + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895730 ms (missed cycles : 3). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895730 ms (missed cycles : 3).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.537ms + 16.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436448 ms (missed cycles : 3). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436448 ms (missed cycles : 3).[0m ×2 + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003664 ms (missed cycles : 4). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003664 ms (missed cycles : 4).[0m ×2 + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 18.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291965 ms (missed cycles : 5). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291965 ms (missed cycles : 5).[0m ×2 + 19.39sWARNros2_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 + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 20.00sWARNros2_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 + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758233 ms (missed cycles : 2). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758233 ms (missed cycles : 2).[0m ×2 + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368458 ms (missed cycles : 3). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368458 ms (missed cycles : 3).[0m ×2 + 21.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.325ms + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372347 ms (missed cycles : 3). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372347 ms (missed cycles : 3).[0m ×2 + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409618 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409618 ms (missed cycles : 2).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.352ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472986 ms (missed cycles : 5). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472986 ms (missed cycles : 5).[0m ×2 + 24.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 25.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225659 ms (missed cycles : 3). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225659 ms (missed cycles : 3).[0m ×2 + 26.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420576 ms (missed cycles : 2). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420576 ms (missed cycles : 2).[0m ×2 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158144 ms (missed cycles : 2). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158144 ms (missed cycles : 2).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms ×2 + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258125 ms (missed cycles : 3). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258125 ms (missed cycles : 3).[0m ×2 + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694636 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694636 ms (missed cycles : 2).[0m ×2 + 30.49sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.261ms + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429403 ms (missed cycles : 3). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429403 ms (missed cycles : 3).[0m ×2 + 31.18sWARNros2_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 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836052 ms (missed cycles : 3). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836052 ms (missed cycles : 3).[0m ×2 + 32.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 33.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 33.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365041 ms (missed cycles : 2). + 33.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365041 ms (missed cycles : 2).[0m ×2 + 34.02sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789374688.81004333 seconds ×3 + 34.15sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.15sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.35sWARNlocal_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 + 34.35sWARNlocal_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 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307914 ms (missed cycles : 2). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307914 ms (missed cycles : 2).[0m ×2 + 34.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789374689.38881803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.053ms + 35.02sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176485 ms (missed cycles : 2). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176485 ms (missed cycles : 2).[0m ×2 + 36.02sWARNros2_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 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134980 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134980 ms (missed cycles : 2).[0m ×2 + 37.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326923 ms (missed cycles : 2). + 37.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326923 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.4s	96 warnings · 244 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898553 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898553 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652327 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652327 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476890 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476890 ms (missed cycles : 3).[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.607ms + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789374881.70213914 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNlocal_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. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917592 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917592 ms (missed cycles : 2).[0m ×2 + 3.23sWARNlocal_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 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.64sINFOobjective_server_nodecaller: ×6 + 3.64sINFOobjective_server_nodetype: 0 ×6 + 3.64sINFOobjective_server_nodename: "" ×6 + 3.64sINFOobjective_server_nodeinstance_id: "" ×6 + 3.64sINFOobjective_server_node ×6 + 3.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789374882.28814125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.396ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501211 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501211 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.92sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.94sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778208 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778208 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458545 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458545 ms (missed cycles : 3).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092311 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092311 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469684 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469684 ms (missed cycles : 3).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190670 ms (missed cycles : 4). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190670 ms (missed cycles : 4).[0m ×2 + 10.01sWARNros2_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 + 10.03sWARNros2_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 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 10.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 10.31sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (6.42e-07 s). ×2 + 10.48sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.52sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312116 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312116 ms (missed cycles : 2).[0m ×2 + 10.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 11.32sINFOobjective_server_nodeFound path in 33 iterations (0.0332152 s). ×2 + 11.78sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958073 ms (missed cycles : 3). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958073 ms (missed cycles : 3).[0m ×2 + 11.85sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 12.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.59sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961647 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961647 ms (missed cycles : 3).[0m ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.47sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458227 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458227 ms (missed cycles : 2).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709133 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709133 ms (missed cycles : 2).[0m ×2 + 15.14sWARNros2_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 + 15.16sWARNros2_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 + 15.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.684ms + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153071 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153071 ms (missed cycles : 2).[0m ×2 + 16.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.795ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092475 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092475 ms (missed cycles : 2).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.124ms + 17.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.868ms + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561566 ms (missed cycles : 4). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561566 ms (missed cycles : 4).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.128ms + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988879 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988879 ms (missed cycles : 2).[0m ×2 + 19.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789374898.06379557 seconds ×3 + 20.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374898.67747426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.08sINFOmove_groupClearing octomap...[0m ×2 + 20.08sINFOmove_groupOctomap cleared.[0m ×2 + 20.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 20.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.23sWARNros2_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 + 20.26sWARNros2_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 + 20.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.741ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694210 ms (missed cycles : 3). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694210 ms (missed cycles : 3).[0m ×2 + 20.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374899.27757859 seconds ×3 + 21.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374899.84955573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347015 ms (missed cycles : 4). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347015 ms (missed cycles : 4).[0m ×2 + 21.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789374900.40968180 seconds ×3 + 22.04sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029663 ms (missed cycles : 3). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029663 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 103 warnings · 156 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143735 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143735 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_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 + 0.66sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673871 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673871 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786405 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786405 ms (missed cycles : 6).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789374741.28896379 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946530 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946530 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789374741.87556219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.827ms + 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 + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-0.80, 5.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.72sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 5.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.051ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283085 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283085 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710714 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710714 ms (missed cycles : 4).[0m ×2 + 5.91sWARNros2_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 + 5.94sWARNros2_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 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021745 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021745 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820403 ms (missed cycles : 5). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820403 ms (missed cycles : 5).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314891 ms (missed cycles : 4). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314891 ms (missed cycles : 4).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.539ms + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.588ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972497 ms (missed cycles : 4). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972497 ms (missed cycles : 4).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.189ms + 10.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.978ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834789 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834789 ms (missed cycles : 2).[0m ×2 + 11.11sWARNros2_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 + 11.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 11.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.708ms + 11.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.686ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367820 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367820 ms (missed cycles : 2).[0m ×2 + 12.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.054ms + 12.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.137ms + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407988 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407988 ms (missed cycles : 3).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.037ms + 13.88sINFOobjective_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 + 13.88sINFOjoint_trajectory_controllerGot request to cancel goal + 13.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.92sERRORobjective_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: 1789374752.13101983 seconds ×3 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807957 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807957 ms (missed cycles : 2).[0m ×2 + 14.02sWARNlocal_costmap.local_costmapSensor origin at (-0.43, 2.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.02sWARNlocal_costmap.local_costmapSensor origin at (-1.33, 2.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.452ms + 14.12sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.12sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789374752.71250916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.731ms + 14.89sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329538 ms (missed cycles : 4). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329538 ms (missed cycles : 4).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169998 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169998 ms (missed cycles : 2).[0m ×2 + 16.36sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.38sWARNros2_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 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921461 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921461 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	10.8s	108 errors · 35 warnings · 519 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.868ms + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561566 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561566 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.128ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988879 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988879 ms (missed cycles : 2).[0m ×2 + 1.45sINFOjoint_trajectory_controllerGoal reached, success! + 1.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789374898.06379557 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.01sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.01sINFOobjective_server_nodecaller: ×4 + 2.01sINFOobjective_server_nodetype: 0 ×4 + 2.01sINFOobjective_server_nodename: "" ×4 + 2.01sINFOobjective_server_nodeinstance_id: "" ×4 + 2.01sINFOobjective_server_node ×4 + 2.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374898.67747426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.23sWARNros2_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 + 2.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.741ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694210 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694210 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374899.27757859 seconds ×3 + 3.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374899.84955573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347015 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347015 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789374900.40968180 seconds ×3 + 4.05sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029663 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029663 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225598 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225598 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525581 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525581 ms (missed cycles : 3).[0m ×2 + 7.71sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.73sWARNros2_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 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056600 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056600 ms (missed cycles : 2).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956492 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956492 ms (missed cycles : 2).[0m ×2 + 9.46sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.46sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.47sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.47sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.47sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.47sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.47sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.47sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.48sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.48sERRORweb_video_auth_proxy-38process has died [pid 7908, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.48sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.48sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.48sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.49sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORweb_bridge_auth_proxy-37process has died [pid 7873, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.49sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.51sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.51sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.51sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 9.52sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 9.52sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 9.53sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 9.54sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 9.55sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 9.56sINFOvideo_server-36process has finished cleanly [pid 7871] ×2 + 9.56sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 9.57sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 9.59sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 9.60sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 9.61sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 9.62sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 9.63sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 9.63sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 9.64sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 9.64sINFOcontroller_managerShutdown request received.... + 9.64sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.64sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.65sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.65sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.65sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.65sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.65sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.65sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.65sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.65sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.65sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.65sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.65sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.65sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.65sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.65sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.65sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.65sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.65sINFOcontroller_managerShutting down the controller manager. + 9.66sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 9.67sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 9.68sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 9.77sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 9.77sERRORmove_group-24process has died [pid 7810, 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_quil8y9n --params-file /tmp/launch_params_azx4_9i6 --params-file /tmp/launch_params_w3epot8v --params-file /tmp/launch_params_o83eq843 --params-file /tmp/launch_params_wllgav9q --params-file /tmp/launch_params_jiytt0ob']. ×2 + 9.78sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 9.79sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 9.80sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 9.81sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 9.81sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 9.82sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 9.82sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 9.82sINFOmap_serverDeactivating + 9.82sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 9.83sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 9.83sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 9.83sINFOcontroller_serverDeactivating + 9.83sINFOlocal_costmap.local_costmapDeactivating + 9.83sINFOvideo_server2026/09/14 08:35:06 INF shutting down gracefully ×2 + 9.83sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.83sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.83sINFOmap_serverCleaning up + 9.83sINFOvideo_server2026/09/14 08:35:06 INF [WebRTC] closing ×2 + 9.83sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 9.83sINFOvideo_server2026/09/14 08:35:06 INF [RTSP] closing ×2 + 9.83sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 9.83sINFOvideo_server2026/09/14 08:35:06 INF waiting for running hooks ×2 + 9.84sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.84sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.84sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.84sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.84sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 9.84sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.84sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.84sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.84sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.84sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.84sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.84sERRORmove_groupStack trace (most recent call last) in thread 8497: ×2 + 9.84sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 9.84sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.84sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.84sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.84sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.84sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 9.84sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 9.84sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.84sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.84sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 9.84sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 9.84sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.84sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.84sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.84sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.84sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.84sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.84sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.84sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1faa0c2a63, in __clone ×2 + 9.84sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1faa035aa3, in ×2 + 9.84sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1faa2c7db3, in ×2 + 9.84sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f1faaa2bb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.84sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1faa659620, in rclcpp::Rate::sleep() ×2 + 9.84sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1faa59bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.84sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1faa55d087, in ×2 + 9.84sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1faa296390, in __cxa_throw ×2 + 9.84sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1faa280a54, in std::terminate() ×2 + 9.84sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1faa2960d9, in ×2 + 9.84sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1faa280ff4, in ×2 + 9.84sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1fa9fc18fe, in abort ×2 + 9.84sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1fa9fde27d, in raise ×2 + 9.84sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1faa037b2c, in pthread_kill ×2 + 9.84sERRORmove_groupAborted (Signal sent by tkill() 7810 0) ×2 + 9.84sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.85sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 9.85sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 9.85sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 9.85sINFOodom_qos_relay.pymain() ×2 + 9.85sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 9.85sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 9.85sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 9.85sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 9.85sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 9.85sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 9.85sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 9.85sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 9.85sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.85sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 9.85sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 9.85sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 9.85sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 9.85sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 9.85sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 9.85sINFOcontroller_serverCleaning up + 9.85sINFOlocal_costmap.local_costmapCleaning up + 9.85sERRORamclThe bond connection to the lifecycle manager has been broken + 9.86sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.86sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 9.87sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 9.87sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 9.87sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 9.87sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 9.87sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 9.87sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 9.87sINFOvelocity_smootherDeactivating + 9.87sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 9.90sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 9.90sINFOsmoother_serverDeactivating + 9.90sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 9.91sINFOsmoother_serverCleaning up + 9.92sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 9.92sINFOplanner_serverDeactivating + 9.92sINFOglobal_costmap.global_costmapDeactivating + 10.08sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.08sINFOwaypoint_followerDeactivating + 10.08sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.20sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.20sINFObt_navigatorDeactivating + 10.20sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.21sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.21sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.22sINFOplanner_serverCleaning up + 10.24sINFOglobal_costmap.global_costmapCleaning up + 10.24sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.25sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.28sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.28sINFObehavior_serverDeactivating + 10.28sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.29sINFObehavior_serverCleaning up + 10.29sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.29sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.29sINFOwaypoint_followerCleaning up + 10.30sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.30sINFOvelocity_smootherCleaning up + 10.30sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.31sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.36sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.37sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.37sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.37sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.37sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.37sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.37sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.37sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.37sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.37sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.37sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.37sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.37sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.37sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.39sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.39sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.39sINFObt_navigatorCleaning up + 10.57sINFObt_navigatorCompleted Cleaning up + 10.57sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.57sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.57sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.57sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.57sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.57sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.57sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.57sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.57sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 10.58sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7863] ×2 + 10.58sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 10.65sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7856] ×2 + 10.65sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7855] ×2 + 10.66sINFOui_teleop_bridge-33process has finished cleanly [pid 7861] ×2 + 10.66sINFOexecute_objective_bridge-32process has finished cleanly [pid 7860] ×2 + 10.70sINFOparameter_manager_node-25process has finished cleanly [pid 7853] ×2 + 10.72sINFOwaypoint_manager_node-26process has finished cleanly [pid 7854] ×2 + 10.72sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7789] ×2 + 10.72sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7788] ×2 + 10.73sINFOcomponent_container_mt-31process has finished cleanly [pid 7859] ×2 + 10.73sINFOstatic_transform_publisher-9process has finished cleanly [pid 7706] ×2 + 10.75sINFOobjective_server_node[2026-09-14 08:35:07.338] [moveit_pro_license] [critical] ×2 + 10.75sINFOobjective_server_node************************************************* ×4 + 10.75sINFOobjective_server_node* MoveIt Pro License ×2 + 10.75sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 10.82sINFOstatic_transform_publisher-8process has finished cleanly [pid 7705] ×2 + 10.82sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 10.82sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 10.82sINFOlidar_flattener.pymain() ×2 + 10.82sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 10.82sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 10.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.82sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 10.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.82sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 10.83sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.83sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.83sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.83sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.83sINFOobjective_server_node_main-29process has finished cleanly [pid 7857] ×2 + 10.83sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 10.83sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.83sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.83sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 10.83sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 10.83sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 10.83sERRORcomponent_container_isolated-1process has died [pid 7698, 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_et4svsxv --params-file /tmp/launch_params__cji8prb -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 10.85sINFOstatic_transform_publisher-4process has finished cleanly [pid 7701] ×2 + 10.86sINFOstatic_transform_publisher-3process has finished cleanly [pid 7700] ×2 + 10.87sERRORlidar_flattener.py-7process has died [pid 7704, 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_32nufhpq']. ×2 + 10.89sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7703] ×2 + 10.89sERRORodom_qos_relay.py-5process has died [pid 7702, 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 + 11.21sERRORcomponent_container_isolated-2process has died [pid 7699, 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_et4svsxv --params-file /tmp/launch_params_r3m111bn -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.78sINFOcomponent_container_mt-30process has finished cleanly [pid 7858] ×2 + 12.38sINFOros2_control_node-12process has finished cleanly [pid 7790] ×2 + 12.44sINFOweb_bridge-34process has finished cleanly [pid 7862] ×2 + 12.44sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×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 4.805713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3).[0m ×2 + 0.77sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.42sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789374649.67722106 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sWARNlocal_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 + 2.50sWARNlocal_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 + 2.70sWARNlocal_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. ×5 + 2.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789374650.26552367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3).[0m ×2 + 5.91sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721415 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721415 ms (missed cycles : 2).[0m ×2 + 6.52sWARNros2_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 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662168 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662168 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538577 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538577 ms (missed cycles : 4).[0m ×2 + 8.83sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789374656.06610370 seconds ×3 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679697 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679697 ms (missed cycles : 2).[0m ×2 + 10.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.38sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.42sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789374657.64980459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.85sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423813 ms (missed cycles : 4). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423813 ms (missed cycles : 4).[0m ×2 + 11.05sWARNros2_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 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004443 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004443 ms (missed cycles : 2).[0m ×2 + 12.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049096 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049096 ms (missed cycles : 2).[0m ×2 + 13.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	62 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340194 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340194 ms (missed cycles : 2).[0m ×2 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079918 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079918 ms (missed cycles : 4).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.729ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776075 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776075 ms (missed cycles : 5).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.379ms + 2.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.58sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789374817.91266418 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.70sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511541 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511541 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789374818.49731016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.641ms + 3.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.08sWARNros2_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 + 4.10sWARNros2_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213097 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213097 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685891 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685891 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2).[0m ×2 + 9.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789374824.36743975 seconds ×3 + 9.16sWARNros2_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 + 9.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.58sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.63sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789374824.96200848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2).[0m ×2 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3).[0m ×2 + 12.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	45 warnings · 145 info
+ 0.00sWARNros2_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 + 0.59sWARNros2_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 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273973 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273973 ms (missed cycles : 3).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588826 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588826 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.81sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789374586.33886671 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827600 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827600 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789374586.91464686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791673 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791673 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.399e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.16sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311852 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311852 ms (missed cycles : 2).[0m ×2 + 5.74sWARNros2_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 + 6.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2).[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764750 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764750 ms (missed cycles : 2).[0m ×2 + 7.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 8.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.286ms + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206312 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206312 ms (missed cycles : 2).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 8.97sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789374592.48477769 seconds ×3 + 9.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.50sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789374593.07707644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286229 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286229 ms (missed cycles : 2).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 2.419ms + 9.95sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 10.30sWARNros2_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 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304373 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304373 ms (missed cycles : 2).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489616 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489616 ms (missed cycles : 3).[0m ×2 + 12.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	28 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153071 ms (missed cycles : 2).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.795ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092475 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092475 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.124ms + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.868ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561566 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561566 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.128ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988879 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988879 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789374898.06379557 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374898.67747426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.86sINFOmove_groupClearing octomap...[0m ×2 + 3.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.01sWARNros2_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 + 4.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.741ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694210 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694210 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374899.27757859 seconds ×3 + 4.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374899.84955573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347015 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347015 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789374900.40968180 seconds ×3 + 5.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029663 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029663 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225598 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225598 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789374824.36743975 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sWARNros2_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 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789374824.96200848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.98sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.98sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.98sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.98sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.98sINFOobjective_server_nodecaller: ×10 + 0.98sINFOobjective_server_nodetype: 0 ×10 + 0.98sINFOobjective_server_nodename: "" ×10 + 0.98sINFOobjective_server_nodeinstance_id: "" ×10 + 0.98sINFOobjective_server_node ×10 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.02sINFOmove_groupClearing octomap...[0m ×4 + 1.02sINFOmove_groupOctomap cleared.[0m ×4 + 1.02sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.59sWARNros2_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 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926181 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926181 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	26 warnings · 71 info
+ 0.00sWARNros2_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 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273973 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273973 ms (missed cycles : 3).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588826 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588826 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789374586.33886671 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827600 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827600 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.40sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789374586.91464686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791673 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791673 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.399e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311852 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311852 ms (missed cycles : 2).[0m ×2 + 5.74sWARNros2_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 + 6.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	26 warnings · 71 info
+ 0.00sWARNros2_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 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273973 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273973 ms (missed cycles : 3).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588826 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588826 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789374586.33886671 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827600 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827600 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.40sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789374586.91464686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791673 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791673 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.399e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.16sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311852 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311852 ms (missed cycles : 2).[0m ×2 + 5.74sWARNros2_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 + 6.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	24 warnings · 315 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 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 2.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.95sINFOmove_groupClearing octomap...[0m ×4 + 2.95sINFOmove_groupOctomap cleared.[0m ×4 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 4.52sWARNros2_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 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 5.10sWARNros2_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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	24 warnings · 75 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 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583630 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764750 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764750 ms (missed cycles : 2).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.286ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206312 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206312 ms (missed cycles : 2).[0m ×2 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789374592.48477769 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789374593.07707644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286229 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286229 ms (missed cycles : 2).[0m ×2 + 4.03sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 2.419ms + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.56sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304373 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304373 ms (missed cycles : 2).[0m ×2 + 5.16sWARNros2_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 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489616 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489616 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOjoint_trajectory_controllerReceived new action goal + 6.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOjoint_trajectory_controllerAccepted new action goal + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	38 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3).[0m ×2 + 0.77sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789374649.67722106 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sWARNlocal_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 + 2.50sWARNlocal_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 + 2.70sWARNlocal_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. ×5 + 2.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789374650.26552367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3).[0m ×2 + 5.91sWARNros2_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
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	38 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3).[0m ×2 + 0.77sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789374649.67722106 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sWARNlocal_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 + 2.50sWARNlocal_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 + 2.70sWARNlocal_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. ×5 + 2.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789374650.26552367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3).[0m ×2 + 5.91sWARNros2_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
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	38 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3).[0m ×2 + 0.77sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789374649.67722106 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sWARNlocal_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 + 2.50sWARNlocal_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 + 2.70sWARNlocal_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. ×5 + 2.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789374650.26552367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3).[0m ×2 + 5.91sWARNros2_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
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	38 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3).[0m ×2 + 0.77sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789374649.67722106 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sWARNlocal_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 + 2.50sWARNlocal_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 + 2.70sWARNlocal_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. ×5 + 2.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789374650.26552367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3).[0m ×2 + 5.91sWARNros2_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
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	38 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805713 ms (missed cycles : 3).[0m ×2 + 0.77sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396354 ms (missed cycles : 3).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832802 ms (missed cycles : 2).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789374649.67722106 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sWARNlocal_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 + 2.50sWARNlocal_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 + 2.70sWARNlocal_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. ×5 + 2.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789374650.26552367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345386 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973750 ms (missed cycles : 3).[0m ×2 + 5.91sWARNros2_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
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	43 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429403 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429403 ms (missed cycles : 3).[0m ×2 + 0.09sWARNros2_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 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836052 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836052 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365041 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365041 ms (missed cycles : 2).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789374688.81004333 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.27sWARNlocal_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 + 3.27sWARNlocal_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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307914 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307914 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789374689.38881803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.053ms + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176485 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176485 ms (missed cycles : 2).[0m ×2 + 4.94sWARNros2_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 + 5.51sWARNros2_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 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134980 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134980 ms (missed cycles : 2).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326923 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326923 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	43 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429403 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429403 ms (missed cycles : 3).[0m ×2 + 0.09sWARNros2_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 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836052 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836052 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365041 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365041 ms (missed cycles : 2).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789374688.81004333 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.27sWARNlocal_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 + 3.27sWARNlocal_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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307914 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307914 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789374689.38881803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.053ms + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176485 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176485 ms (missed cycles : 2).[0m ×2 + 4.94sWARNros2_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 + 5.51sWARNros2_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 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134980 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134980 ms (missed cycles : 2).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326923 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326923 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	43 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429403 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429403 ms (missed cycles : 3).[0m ×2 + 0.09sWARNros2_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 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836052 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836052 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365041 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365041 ms (missed cycles : 2).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789374688.81004333 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.27sWARNlocal_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 + 3.27sWARNlocal_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 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307914 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307914 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789374689.38881803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.053ms + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176485 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176485 ms (missed cycles : 2).[0m ×2 + 4.94sWARNros2_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 + 5.51sWARNros2_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 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134980 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134980 ms (missed cycles : 2).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal + 6.25sINFOjoint_trajectory_controllerAccepted new action goal + 6.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326923 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326923 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	24 warnings · 315 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 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 2.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.95sINFOmove_groupClearing octomap...[0m ×4 + 2.95sINFOmove_groupOctomap cleared.[0m ×4 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 4.52sWARNros2_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 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 5.10sWARNros2_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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789374824.36743975 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sWARNros2_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 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789374824.96200848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	24 warnings · 315 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 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 2.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.95sINFOmove_groupClearing octomap...[0m ×4 + 2.95sINFOmove_groupOctomap cleared.[0m ×4 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 4.52sWARNros2_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 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 5.10sWARNros2_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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789374824.36743975 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sWARNros2_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 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789374824.96200848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789374824.36743975 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sWARNros2_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 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789374824.96200848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789374824.36743975 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sWARNros2_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 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789374824.96200848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789374824.36743975 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sWARNros2_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 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789374824.96200848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826383 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293502 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827606 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789374824.36743975 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sWARNros2_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 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789374824.96200848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068662 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724318 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587128 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	25 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153071 ms (missed cycles : 2).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.795ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092475 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092475 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.124ms + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.868ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561566 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561566 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.128ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988879 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988879 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789374898.06379557 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374898.67747426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.86sINFOmove_groupClearing octomap...[0m ×2 + 3.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.01sWARNros2_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 + 4.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.741ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694210 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694210 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374899.27757859 seconds ×3 + 4.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374899.84955573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347015 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347015 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789374900.40968180 seconds ×3 + 5.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029663 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029663 ms (missed cycles : 3).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 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	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 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	25 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 1.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.25sINFOobjective_server_nodecaller: ×10 + 2.25sINFOobjective_server_nodetype: 0 ×10 + 2.25sINFOobjective_server_nodename: "" ×10 + 2.25sINFOobjective_server_nodeinstance_id: "" ×10 + 2.25sINFOobjective_server_node ×10 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.29sINFOmove_groupClearing octomap...[0m ×4 + 2.29sINFOmove_groupOctomap cleared.[0m ×4 + 2.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 3.86sWARNros2_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 + 4.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 4.44sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	29 warnings · 315 info
+ 0.00sWARNros2_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 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346882 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346882 ms (missed cycles : 3).[0m ×2 + 0.61sWARNros2_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 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 2.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 2.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.52sINFOobjective_server_nodecaller: ×10 + 3.52sINFOobjective_server_nodetype: 0 ×10 + 3.52sINFOobjective_server_nodename: "" ×10 + 3.52sINFOobjective_server_nodeinstance_id: "" ×10 + 3.52sINFOobjective_server_node ×10 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.56sINFOmove_groupClearing octomap...[0m ×4 + 3.56sINFOmove_groupOctomap cleared.[0m ×4 + 3.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 5.13sWARNros2_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 + 5.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 5.71sWARNros2_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 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 7.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	27 warnings · 321 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 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 2.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.95sINFOmove_groupClearing octomap...[0m ×4 + 2.95sINFOmove_groupOctomap cleared.[0m ×4 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 4.52sWARNros2_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 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 5.10sWARNros2_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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.90sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	26 warnings · 312 info
+ 0.00sWARNros2_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 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346882 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346882 ms (missed cycles : 3).[0m ×2 + 0.61sWARNros2_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 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 2.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 2.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.52sINFOobjective_server_nodecaller: ×10 + 3.52sINFOobjective_server_nodetype: 0 ×10 + 3.52sINFOobjective_server_nodename: "" ×10 + 3.52sINFOobjective_server_nodeinstance_id: "" ×10 + 3.52sINFOobjective_server_node ×10 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.56sINFOmove_groupClearing octomap...[0m ×4 + 3.56sINFOmove_groupOctomap cleared.[0m ×4 + 3.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 5.13sWARNros2_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 + 5.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 5.71sWARNros2_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 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	24 warnings · 315 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 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 2.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.95sINFOmove_groupClearing octomap...[0m ×4 + 2.95sINFOmove_groupOctomap cleared.[0m ×4 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 4.52sWARNros2_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 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 5.10sWARNros2_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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	24 warnings · 315 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 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 2.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.95sINFOmove_groupClearing octomap...[0m ×4 + 2.95sINFOmove_groupOctomap cleared.[0m ×4 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 4.52sWARNros2_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 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 5.10sWARNros2_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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	24 warnings · 315 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 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 2.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.91sINFOobjective_server_nodecaller: ×10 + 2.91sINFOobjective_server_nodetype: 0 ×10 + 2.91sINFOobjective_server_nodename: "" ×10 + 2.91sINFOobjective_server_nodeinstance_id: "" ×10 + 2.91sINFOobjective_server_node ×10 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.95sINFOmove_groupClearing octomap...[0m ×4 + 2.95sINFOmove_groupOctomap cleared.[0m ×4 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 4.52sWARNros2_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 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 5.10sWARNros2_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 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_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 3.653693 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653693 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 1.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.25sINFOobjective_server_nodecaller: ×10 + 2.25sINFOobjective_server_nodetype: 0 ×10 + 2.25sINFOobjective_server_nodename: "" ×10 + 2.25sINFOobjective_server_nodeinstance_id: "" ×10 + 2.25sINFOobjective_server_node ×10 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.29sINFOmove_groupClearing octomap...[0m ×4 + 2.29sINFOmove_groupOctomap cleared.[0m ×4 + 2.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 3.86sWARNros2_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 + 4.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 4.44sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 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	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926181 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926181 ms (missed cycles : 4).[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	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 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	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959723 ms (missed cycles : 2).[0m ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374540.82482553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374540.83505583 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265600 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374541.41151977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374541.42163229 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038272 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374541.99300218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374542.14354014 seconds ×3 + 2.81sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374542.75293684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374542.82305861 seconds ×3 + 3.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000292 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789374543.42025590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296197 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594014 ms (missed cycles : 3).[0m ×2