79
Total objective tests
18
Objectives passed
0
Objectives failed
61
Objectives skipped
21.8s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.9s | 12 errors · 318 warnings · 1550 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/2026-09-14-22-28-29-651148-e35c83f89c9a-7573 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.31sINFOstatic_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' + 4.31sINFOstatic_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' + 4.32sINFOstatic_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' + 4.32sINFOstatic_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' + 4.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.54sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.57sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.60sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.61sINFOcontroller_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 + 4.62sWARNcontroller_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 [7715] ×2 + 4.62sINFOmove_group-24process started with pid [7729] ×2 + 4.62sINFOparameter_manager_node-25process started with pid [7778] ×2 + 4.62sINFOwaypoint_manager_node-26process started with pid [7779] ×2 + 4.62sINFOmove_joint_resampler_node-27process started with pid [7780] ×2 + 4.62sINFOmove_end_effector_resampler_node-28process started with pid [7781] ×2 + 4.62sINFOobjective_server_node_main-29process started with pid [7782] ×2 + 4.62sINFOcomponent_container_mt-30process started with pid [7783] ×2 + 4.62sINFOcomponent_container_mt-31process started with pid [7784] ×2 + 4.62sINFOexecute_objective_bridge-32process started with pid [7785] ×2 + 4.62sINFOui_teleop_bridge-33process started with pid [7786] ×2 + 4.62sINFOweb_bridge-34process started with pid [7787] ×2 + 4.62sINFOtf2_web_republisher_node-35process started with pid [7788] ×2 + 4.62sINFOvideo_server-36process started with pid [7789] ×2 + 4.62sINFOweb_bridge_auth_proxy-37process started with pid [7790] ×2 + 4.62sINFOweb_video_auth_proxy-38process started with pid [7791] ×2 + 4.63sINFOcomponent_container_isolated-1process started with pid [7623] ×2 + 4.63sINFOcomponent_container_isolated-2process started with pid [7624] ×2 + 4.63sINFOstatic_transform_publisher-3process started with pid [7625] ×2 + 4.63sINFOstatic_transform_publisher-4process started with pid [7626] ×2 + 4.63sINFOodom_qos_relay.py-5process started with pid [7627] ×2 + 4.63sINFOforward_stereo_publisher.py-6process started with pid [7628] ×2 + 4.63sINFOlidar_flattener.py-7process started with pid [7629] ×2 + 4.63sINFOstatic_transform_publisher-8process started with pid [7630] ×2 + 4.63sINFOstatic_transform_publisher-9process started with pid [7631] ×2 + 4.63sINFOscan_to_scan_filter_chain-10process started with pid [7713] ×2 + 4.63sINFOscan_to_scan_filter_chain-11process started with pid [7714] ×2 + 4.63sINFOros2-13process started with pid [7716] ×2 + 4.63sINFOros2-14process started with pid [7717] ×2 + 4.63sINFOros2-15process started with pid [7718] ×2 + 4.63sINFOros2-16process started with pid [7719] ×2 + 4.63sINFOros2-17process started with pid [7722] ×2 + 4.63sINFOros2-18process started with pid [7723] ×2 + 4.63sINFOros2-19process started with pid [7724] ×2 + 4.63sINFOros2-20process started with pid [7725] ×2 + 4.63sINFOros2-21process started with pid [7726] ×2 + 4.63sINFOros2-22process started with pid [7727] ×2 + 4.63sINFOros2-23process started with pid [7728] ×2 + 4.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.66sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.66sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.66sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.66sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.66sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.68sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.68sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.68sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.68sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.68sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.68sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.68sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.68sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.68sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.68sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.68sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.68sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.68sWARNros2_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 + 4.69sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929490 ms (missed cycles : 2). + 4.70sINFOcontroller_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. + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929490 ms (missed cycles : 2).[0m ×2 + 4.77sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.82sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.82sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.82sINFOcontroller_serverCreating controller server + 4.83sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.83sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.83sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.83sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.85sINFOvideo_server2026/09/14 22:28:36 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.85sINFOvideo_server2026/09/14 22:28:36 INF configuration loaded from /tmp/moveit-webrtc-qtcxbbdz/mediamtx.yml ×2 + 4.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.85sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.86sINFOlocal_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. + 4.86sINFOlocal_costmap.local_costmapCreating Costmap + 4.87sINFOvideo_server2026/09/14 22:28:36 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.87sINFOvideo_server2026/09/14 22:28:36 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.89sINFOmap_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. + 4.89sINFOmap_serverCreating + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.91sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.92sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.92sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.92sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.93sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.95sINFOrobot_state_publisherRobot initialized + 4.95sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.95sINFOcontroller_managerReceived robot description from topic. + 4.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.96sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.00sINFOsmoother_serverCreating smoother server + 5.00sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.00sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.01sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.03sINFOlifecycle_manager_localizationCreating + 5.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.05sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.05sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.06sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.07sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.07sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.07sINFOmap_serverConfiguring + 5.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.08sINFOplanner_serverCreating + 5.11sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.13sINFOglobal_costmap.global_costmapCreating Costmap + 5.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.14sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.19sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.19sINFOamclConfiguring + 5.20sINFObehavior_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. + 5.21sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.21sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.21sINFOmap_serverActivating + 5.21sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.21sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.21sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.22sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.27sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.33sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.33sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.33sINFOamclActivating + 5.33sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.33sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.37sINFOamclSubscribed to map_topic: /map + 5.37sINFOamclSubscribed to scan_topic: /scan_merged + 5.37sINFOamclCreated reinitialize_global_localization service + 5.37sINFOamclCreated request_nomotion_update service + 5.37sINFOamclA new map was received + 5.37sINFOamclInitializing particle filter instance + 5.38sINFObt_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. + 5.40sINFObt_navigatorCreating + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.46sWARNlaser_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. + 5.46sWARNscan_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 + 5.47sWARNlaser_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. + 5.50sINFOwaypoint_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. + 5.52sINFOwaypoint_followerCreating + 5.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.63sINFOvelocity_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. + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.72sINFOlifecycle_manager_navigationCreating + 5.73sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.438933 seconds + 5.74sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.74sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.74sINFOmove_groupLoaded robot model in 0.438933 seconds[0m ×2 + 5.74sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.74sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793205 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793205 ms (missed cycles : 2).[0m ×2 + 5.75sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.80sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.80sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.81sINFOcontroller_serverConfiguring controller interface + 5.81sINFOcontroller_servergetting progress checker plugins.. + 5.81sINFOcontroller_servergetting goal checker plugins.. + 5.81sINFOcontroller_serverController frequency set to 20.0000Hz + 5.81sINFOlocal_costmap.local_costmapConfiguring + 5.85sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 5.85sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.86sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.88sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.92sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.92sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.92sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.96sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.96sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.97sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.98sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.98sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.01sINFOwaypoint_manager_nodeLoaded robot model in 0.371981 seconds[0m ×2 + 6.01sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.01sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.02sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.04sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.04sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.06sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.06sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.07sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.07sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.08sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.08sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.11sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.11sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.11sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.12sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.12sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.12sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.12sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.13sINFOcontroller_serverOptimizer reset ×2 + 6.15sINFOcontroller_serverController Server has FollowPath controllers available. + 6.17sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.17sINFOsmoother_serverConfiguring smoother server + 6.19sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.20sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.22sINFOamclParticle filter initialization completed + 6.22sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.22sINFOamclInitializing particles from estimated pose and covariance + 6.22sINFOplanner_serverConfiguring + 6.22sINFOglobal_costmap.global_costmapConfiguring + 6.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.22sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.22sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.22sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.22sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.23sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.24sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.24sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.24sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.27sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.27sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.27sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.32sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.32sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.32sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.32sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.33sINFOplanner_serverPlanner Server has GridBased planners available. + 6.36sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.37sINFObehavior_serverConfiguring + 6.38sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.38sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.38sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.39sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.39sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.40sINFObehavior_serverConfiguring spin + 6.41sINFObehavior_serverConfiguring backup + 6.42sINFObehavior_serverConfiguring drive_on_heading + 6.43sINFObehavior_serverConfiguring assisted_teleop + 6.44sINFObehavior_serverConfiguring wait + 6.44sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.44sINFObt_navigatorConfiguring + 6.45sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.46sWARNbt_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 + 6.52sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.52sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.53sWARNmove_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. + 6.53sWARNmove_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. + 6.53sWARNmove_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 + 6.53sWARNmove_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. + 6.53sWARNmove_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. + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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. + 6.53sWARNmove_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. + 6.53sWARNmove_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. + 6.53sWARNmove_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. + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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 + 6.53sWARNmove_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. + 6.53sWARNmove_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 + 6.53sWARNmove_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. + 6.53sWARNmove_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 + 6.58sWARNwaypoint_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. + 6.58sWARNwaypoint_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. + 6.58sWARNwaypoint_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 + 6.58sWARNwaypoint_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 + 6.58sWARNwaypoint_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. + 6.58sWARNwaypoint_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. + 6.58sWARNwaypoint_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. + 6.58sWARNwaypoint_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 + 6.58sWARNwaypoint_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. + 6.58sWARNwaypoint_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 + 6.58sWARNwaypoint_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 + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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 + 6.59sWARNwaypoint_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. + 6.59sWARNwaypoint_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 + 6.59sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.59sWARNwaypoint_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. + 6.60sWARNwaypoint_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 + 6.60sWARNwaypoint_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. + 6.60sWARNwaypoint_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 + 6.60sWARNwaypoint_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. + 6.60sWARNwaypoint_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 + 6.60sWARNwaypoint_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. + 6.60sWARNwaypoint_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. + 6.60sWARNwaypoint_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 + 6.60sWARNwaypoint_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. + 6.60sWARNwaypoint_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 + 6.60sWARNwaypoint_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 + 6.60sWARNwaypoint_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. + 6.60sWARNwaypoint_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 + 6.60sWARNwaypoint_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. + 6.60sWARNwaypoint_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 + 6.61sWARNwaypoint_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. + 6.61sWARNwaypoint_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 + 6.61sWARNwaypoint_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. + 6.61sWARNwaypoint_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 + 6.61sWARNwaypoint_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. + 6.61sWARNwaypoint_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 + 6.61sWARNwaypoint_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. + 6.61sWARNwaypoint_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 + 6.61sWARNwaypoint_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. + 6.61sWARNwaypoint_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. + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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 + 6.62sWARNwaypoint_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. + 6.62sWARNwaypoint_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 + 6.66sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.66sINFOwaypoint_followerConfiguring + 6.69sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 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 + 6.69sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.69sINFOvelocity_smootherConfiguring velocity smoother + 6.70sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.70sINFOcontroller_serverActivating + 6.70sINFOlocal_costmap.local_costmapActivating + 6.70sINFOlocal_costmap.local_costmapChecking transform + 6.70sINFOlocal_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. ×13 + 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 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125125 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125125 ms (missed cycles : 2).[0m ×2 + 6.93sINFOmove_group[2026-09-14 22:28:38.244] [moveit_pro_license] [info] ×2 + 6.93sINFOmove_group************************************************* ×4 + 6.93sINFOmove_group* MoveIt Pro License ×2 + 6.93sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.94sINFOwaypoint_manager_node[2026-09-14 22:28:38.248] [moveit_pro_license] [info] ×2 + 6.94sINFOwaypoint_manager_node************************************************* ×4 + 6.94sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.94sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.30sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.31sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.31sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.32sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.32sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.32sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.32sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.32sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.32sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.33sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.33sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.33sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.33sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.33sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.33sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.33sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.33sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.33sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.33sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.33sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.33sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.33sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.33sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.33sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.33sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.55sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.55sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.55sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.55sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.55sWARNros2_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 + 7.55sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.55sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.55sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.55sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.55sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.55sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.55sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.55sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.55sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.55sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.55sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.55sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.55sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.55sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.55sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.55sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.55sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.55sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.55sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.55sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.61sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.61sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.61sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.61sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 7.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 7.67sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.67sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.68sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.68sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.68sINFOplatform_velocity_controller_nav2configure successful + 7.68sINFOros2_control_nodeconfigure successful[0m ×6 + 7.84sINFOros2_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 + 7.84sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.84sWARNros2_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 + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.88sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.88sINFOcomponent_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 + 8.01sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.01sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.01sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.01sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.04sINFOobjective_server_node[2026-09-14 22:28:39.348] [moveit_pro_license] [info] ×2 + 8.04sINFOobjective_server_node************************************************* ×4 + 8.04sINFOobjective_server_node* MoveIt Pro License ×2 + 8.04sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.05sINFOros2-18process has finished cleanly [pid 7723] ×2 + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.09sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.11sWARNcomponent_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 + 8.11sINFOobjective_server_nodeLoaded robot model in 0.0314286 seconds[0m ×2 + 8.11sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.11sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.13sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.15sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.15sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.15sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.15sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.15sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.15sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.16sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.16sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.16sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.16sINFOstreaming_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) + 8.16sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.16sINFOcomponent_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 + 8.16sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 8.16sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.16sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 8.16sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368831 ms (missed cycles : 2). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368831 ms (missed cycles : 2).[0m ×2 + 8.21sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 8.21sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 8.22sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 8.22sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 8.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.24sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.37sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.37sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.37sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.39sINFOstreaming_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) + 8.39sINFOcomponent_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 + 8.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.40sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.51sINFOcomponent_container_mtLoaded robot model in 0.407282 seconds[0m ×2 + 8.52sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.52sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.60sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.63sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.63sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.63sWARNobjective_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. + 8.63sWARNobjective_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. + 8.63sWARNobjective_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 + 8.63sWARNobjective_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. + 8.63sWARNobjective_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 + 8.63sWARNobjective_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. + 8.63sWARNobjective_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 + 8.63sWARNobjective_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 + 8.63sWARNobjective_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. + 8.63sWARNobjective_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. + 8.64sWARNobjective_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 + 8.64sWARNobjective_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 + 8.64sWARNobjective_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. + 8.64sWARNobjective_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 + 8.64sWARNobjective_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. + 8.64sWARNobjective_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 + 8.64sWARNobjective_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. + 8.64sWARNobjective_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. + 8.64sWARNobjective_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 + 8.64sWARNobjective_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 + 8.70sINFOobjective_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 + 8.70sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.72sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.72sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.72sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.72sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.72sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.72sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.72sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.74sINFOros2_control_node[2026-09-14 22:28:40.048] [info] Controller state will be published at 20 Hz. ×2 + 8.74sINFOros2_control_node[2026-09-14 22:28:40.049] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.82sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.82sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.96sWARNplanning_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. + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNplanning_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. + 8.96sWARNcomponent_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 + 8.96sWARNplanning_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. + 8.96sWARNcomponent_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 + 8.96sWARNplanning_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. + 8.96sWARNplanning_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. + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.06sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.06sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 9.06sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 9.10sINFOros2-23process has finished cleanly [pid 7728] ×2 + 9.12sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.12sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.13sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.13sINFOplatform_velocity_controllerconfigure successful + 9.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.13sINFOcontroller_managerSuccessfully switched controllers! ×20 + 9.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 9.14sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.14sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.25sINFOcomponent_container_mt[2026-09-14 22:28:40.563] [moveit_pro_license] [info] ×2 + 9.25sINFOcomponent_container_mt************************************************* ×4 + 9.25sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.25sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.26sINFOmove_groupMoveGroup debug mode is ON + 9.26sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.27sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.31sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.31sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.31sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.31sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.31sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.31sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675031 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675031 ms (missed cycles : 2).[0m ×2 + 9.40sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.42sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 9.42sINFOmove_group ×8 + 9.42sINFOmove_group******************************************************** ×4 + 9.42sINFOmove_group* MoveGroup using: ×2 + 9.42sINFOmove_group* - apply_planning_scene_service ×2 + 9.42sINFOmove_group* - clear_octomap_service ×2 + 9.42sINFOmove_group* - get_group_urdf ×2 + 9.42sINFOmove_group* - load_geometry_from_file ×2 + 9.42sINFOmove_group* - get_planning_scene_service ×2 + 9.42sINFOmove_group* - kinematics_service ×2 + 9.42sINFOmove_group* - save_geometry_to_file ×2 + 9.42sINFOmove_group* - GetPlanningGroups ×2 + 9.42sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.42sINFOmove_group[0m ×2 + 9.43sINFOmove_group[92mYou can start planning now![0m ×2 + 9.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 9.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 9.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 9.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 9.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 9.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 9.47sINFOros2-16process has finished cleanly [pid 7719] ×2 + 9.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 9.55sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 9.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 9.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 9.56sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 9.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 9.56sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 9.56sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 9.56sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 9.57sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 9.57sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 9.57sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 9.57sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 9.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 9.57sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 9.63sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.63sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.84sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 9.84sINFOcontroller_managerLoading controller 'vacuum_gripper' + 9.84sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 9.84sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 9.85sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 9.85sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 9.88sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 9.88sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 9.88sINFOros2-19process has finished cleanly [pid 7724] ×2 + 9.90sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 9.90sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 9.91sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 9.91sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 9.91sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 9.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 9.91sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 9.91sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 9.92sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 9.92sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.03sWARNros2_control_nodeCamera render tick took 1.09 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.07sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.07sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.07sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.07sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.21sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.21sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 10.21sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.21sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.24sINFOros2-17process has finished cleanly [pid 7722] ×2 + 10.30sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 10.31sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 10.36sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 10.36sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 10.36sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 10.36sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849314 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849314 ms (missed cycles : 3).[0m ×2 + 10.70sINFOros2_control_node[2026-09-14 22:28:42.011] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.70sINFOros2_control_node[2026-09-14 22:28:42.014] [info] Controller state will be published at 10 Hz. ×2 + 10.70sWARNros2_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 + 10.70sINFOros2_control_node[2026-09-14 22:28:42.016] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.01sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.01sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.02sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.02sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.02sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.02sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 11.02sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 11.04sINFOros2-21process has finished cleanly [pid 7726] ×2 + 11.07sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.07sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.07sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.07sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.08sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.08sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.09sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789424920.257 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.39sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.39sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.39sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.39sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 11.39sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.39sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975969 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975969 ms (missed cycles : 2).[0m ×2 + 11.43sINFOros2-14process has finished cleanly [pid 7717] ×2 + 11.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.85sINFOros2_control_node[2026-09-14 22:28:43.163] [info] Controller state will be published at 20 Hz. ×2 + 11.85sINFOros2_control_node[2026-09-14 22:28:43.164] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.16sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 12.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.16sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 12.21sINFOros2-22process has finished cleanly [pid 7727] ×2 + 12.21sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575435 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575435 ms (missed cycles : 2).[0m ×2 + 12.62sINFOros2_control_node[2026-09-14 22:28:43.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.62sINFOros2_control_node[2026-09-14 22:28:43.932] [info] Controller state will be published at 10 Hz. ×2 + 12.62sINFOros2_control_node[2026-09-14 22:28:43.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.96sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.96sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.96sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 12.96sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 12.98sINFOros2-20process has finished cleanly [pid 7725] ×2 + 13.02sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 13.02sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 13.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 13.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 13.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 13.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 13.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 13.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 13.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 13.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 13.20sINFOlocal_costmap.local_costmapstart + 13.30sWARNcontroller_serverParameter controller_server.verbose not found + 13.30sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.37sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.37sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.37sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.38sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 + 13.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_msqiwik6 --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_9jjpjlfp --params-file /tmp/launch_params_38qurlk9 [0m ×2 + 13.41sINFOros2-15process has finished cleanly [pid 7718] ×2 + 13.42sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.42sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.42sINFOsmoother_serverActivating + 13.42sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.43sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.43sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.44sINFOforce_torque_sensor_broadcasterconfigure successful + 13.44sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.45sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.45sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970548 ms (missed cycles : 4). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970548 ms (missed cycles : 4).[0m ×2 + 13.52sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.52sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.52sINFOplanner_serverActivating + 13.52sINFOglobal_costmap.global_costmapActivating + 13.52sINFOglobal_costmap.global_costmapChecking transform + 13.52sINFOglobal_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. + 13.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.77sINFOros2-13process has finished cleanly [pid 7716] ×2 + 13.78sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 5.110ms + 14.02sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789424925.320918, but only time 1789424925.458856 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.16sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789424923.822 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 14.52sINFOglobal_costmap.global_costmapstart + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946365 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946365 ms (missed cycles : 2).[0m ×2 + 15.43sWARNros2_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 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841444 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841444 ms (missed cycles : 2).[0m ×2 + 15.58sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.58sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.68sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.68sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.68sINFObehavior_serverActivating + 15.68sINFObehavior_serverActivating spin + 15.68sINFObehavior_serverActivating backup + 15.68sINFObehavior_serverActivating drive_on_heading + 15.68sINFObehavior_serverActivating assisted_teleop + 15.68sINFObehavior_serverActivating wait + 15.68sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.79sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.79sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.79sINFObt_navigatorActivating + 15.85sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.95sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.95sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.95sINFOwaypoint_followerActivating + 15.95sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 16.03sWARNros2_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 + 16.06sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.06sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.06sINFOvelocity_smootherActivating + 16.06sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.16sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.16sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.16sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 17.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 18.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.82sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.82sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.82sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.82sINFOobjective_server_nodecaller: ×10 + 18.82sINFOobjective_server_nodetype: 0 ×10 + 18.82sINFOobjective_server_nodename: "" ×10 + 18.82sINFOobjective_server_nodeinstance_id: "" ×10 + 18.82sINFOobjective_server_node ×10 + 18.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 18.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 18.86sINFOmove_groupClearing octomap...[0m ×4 + 18.86sINFOmove_groupOctomap cleared.[0m ×4 + 18.86sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 18.86sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 18.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 19.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 20.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 20.75sWARNros2_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 + 20.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.85sINFOobjective_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 + 20.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 21.34sWARNros2_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 + 21.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.48sINFOros2_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/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.5s | 3 errors · 286 warnings · 253 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680527 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680527 ms (missed cycles : 2).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.276ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.205ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094498 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094498 ms (missed cycles : 2).[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 1.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.447ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012879 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012879 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 4228 particles 723 points - 8.089ms + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOjoint_trajectory_controllerGot request to cancel goal + 2.80sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.83sERRORobjective_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: 1789425143.57905579 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×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 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-0.46, 2.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-1.36, 2.72) 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 (-0.56, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.08sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 5.875ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696043 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696043 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789425144.15489149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sWARNros2_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 + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 3.83sINFOobjective_server_nodeFound path in 0 iterations (5.19e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586361 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586361 ms (missed cycles : 3).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010132 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010132 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.26sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.26sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677939 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677939 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983842 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983842 ms (missed cycles : 3).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272075 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272075 ms (missed cycles : 2).[0m ×2 + 8.89sWARNros2_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 + 8.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.140ms + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.656ms + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823581 ms (missed cycles : 3). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823581 ms (missed cycles : 3).[0m ×2 + 10.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 10.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.251ms + 10.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681928 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681928 ms (missed cycles : 3).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 3138 particles 723 points - 6.799ms + 11.79sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 4.554ms + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883302 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883302 ms (missed cycles : 3).[0m ×2 + 12.37sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.277ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989552 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989552 ms (missed cycles : 2).[0m ×2 + 12.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 13.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843583 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843583 ms (missed cycles : 2).[0m ×2 + 14.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 14.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407889 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407889 ms (missed cycles : 3).[0m ×2 + 15.33sWARNros2_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 + 15.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 15.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.392ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475543 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475543 ms (missed cycles : 2).[0m ×2 + 16.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433786 ms (missed cycles : 4). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433786 ms (missed cycles : 4).[0m ×2 + 17.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979999 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979999 ms (missed cycles : 2).[0m ×2 + 18.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250115 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250115 ms (missed cycles : 2).[0m ×2 + 19.61sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170405 ms (missed cycles : 3). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170405 ms (missed cycles : 3).[0m ×2 + 20.89sWARNros2_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 ×4 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129235 ms (missed cycles : 2). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129235 ms (missed cycles : 2).[0m ×2 + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 22.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828356 ms (missed cycles : 3). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828356 ms (missed cycles : 3).[0m ×2 + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 23.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246093 ms (missed cycles : 3). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246093 ms (missed cycles : 3).[0m ×2 + 24.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597527 ms (missed cycles : 2). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597527 ms (missed cycles : 2).[0m ×2 + 24.63sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 24.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042295 ms (missed cycles : 3). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042295 ms (missed cycles : 3).[0m ×2 + 25.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.483ms + 26.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 26.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603457 ms (missed cycles : 3). + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603457 ms (missed cycles : 3).[0m ×2 + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 27.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.505ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393604 ms (missed cycles : 3). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393604 ms (missed cycles : 3).[0m ×2 + 28.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.177ms + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075474 ms (missed cycles : 3). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075474 ms (missed cycles : 3).[0m ×2 + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.364ms + 30.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557156 ms (missed cycles : 4). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557156 ms (missed cycles : 4).[0m ×2 + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992569 ms (missed cycles : 2). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992569 ms (missed cycles : 2).[0m ×2 + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964674 ms (missed cycles : 2). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964674 ms (missed cycles : 2).[0m ×2 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111345 ms (missed cycles : 2). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111345 ms (missed cycles : 2).[0m ×2 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011021 ms (missed cycles : 3). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011021 ms (missed cycles : 3).[0m ×2 + 34.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 34.63sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.63sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.19sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956254 ms (missed cycles : 3). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956254 ms (missed cycles : 3).[0m ×2 + 35.63sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 36.40sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756947 ms (missed cycles : 3). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756947 ms (missed cycles : 3).[0m ×2 + 36.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455642 ms (missed cycles : 3). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455642 ms (missed cycles : 3).[0m ×2 + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108423 ms (missed cycles : 3). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108423 ms (missed cycles : 3).[0m ×2 + 39.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.182860 ms (missed cycles : 5). + 39.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.182860 ms (missed cycles : 5).[0m ×2 + 40.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.920ms + 40.70sWARNros2_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 + 40.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.281ms + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221620 ms (missed cycles : 4). + 40.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221620 ms (missed cycles : 4).[0m ×2 + 41.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.190ms + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016478 ms (missed cycles : 2). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016478 ms (missed cycles : 2).[0m ×2 + 42.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885065 ms (missed cycles : 2). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885065 ms (missed cycles : 2).[0m ×2 + 43.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157369 ms (missed cycles : 3). + 43.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157369 ms (missed cycles : 3).[0m ×2 + 45.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279333 ms (missed cycles : 5). + 45.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279333 ms (missed cycles : 5).[0m ×2 + 45.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641229 ms (missed cycles : 5). + 46.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641229 ms (missed cycles : 5).[0m ×2 + 46.24sWARNros2_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 + 46.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms ×2 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797361 ms (missed cycles : 3). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797361 ms (missed cycles : 3).[0m ×2 + 48.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290996 ms (missed cycles : 3). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290996 ms (missed cycles : 3).[0m ×2 + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130673 ms (missed cycles : 2). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130673 ms (missed cycles : 2).[0m ×2 + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814684 ms (missed cycles : 2). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814684 ms (missed cycles : 2).[0m ×2 + 50.48sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 50.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 51.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429635 ms (missed cycles : 3). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429635 ms (missed cycles : 3).[0m ×2 + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916848 ms (missed cycles : 2). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916848 ms (missed cycles : 2).[0m ×2 + 52.47sWARNros2_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 + 53.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932278 ms (missed cycles : 5). + 53.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932278 ms (missed cycles : 5).[0m ×2 + 54.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706742 ms (missed cycles : 2). + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706742 ms (missed cycles : 2).[0m ×2 + 55.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359316 ms (missed cycles : 3). + 55.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359316 ms (missed cycles : 3).[0m ×2 + 55.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 56.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824939 ms (missed cycles : 3). + 56.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824939 ms (missed cycles : 3).[0m ×2 + 56.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.135ms + 57.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827674 ms (missed cycles : 2). + 57.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827674 ms (missed cycles : 2).[0m ×2 + 58.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762435 ms (missed cycles : 3). + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762435 ms (missed cycles : 3).[0m ×2 + 58.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.163ms + 59.19sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 59.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547530 ms (missed cycles : 2). + 59.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547530 ms (missed cycles : 2).[0m ×2 + 60.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216790 ms (missed cycles : 2). + 60.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216790 ms (missed cycles : 2).[0m ×2 + 61.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015299 ms (missed cycles : 2). + 61.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015299 ms (missed cycles : 2).[0m ×2 + 62.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937654 ms (missed cycles : 3). + 62.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937654 ms (missed cycles : 3).[0m ×2 + 62.95sWARNros2_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 + 63.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393443 ms (missed cycles : 5). + 63.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393443 ms (missed cycles : 5).[0m ×2 + 64.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 65.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537633 ms (missed cycles : 2). + 65.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537633 ms (missed cycles : 2).[0m ×2 + 66.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.097ms + 66.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784710 ms (missed cycles : 2). + 66.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784710 ms (missed cycles : 2).[0m ×2 + 66.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 67.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397811 ms (missed cycles : 2). + 67.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397811 ms (missed cycles : 2).[0m ×2 + 67.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.261ms + 68.37sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789425209.11514330 seconds ×3 + 68.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779890 ms (missed cycles : 3). + 68.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779890 ms (missed cycles : 3).[0m ×2 + 68.47sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.47sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.57sWARNlocal_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 + 68.57sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.91sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.95sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789425209.70098734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.08sWARNros2_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 + 69.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.166ms + 69.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589930 ms (missed cycles : 4). + 69.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589930 ms (missed cycles : 4).[0m ×2 + 70.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748091 ms (missed cycles : 5). + 70.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748091 ms (missed cycles : 5).[0m ×2 + 71.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374945 ms (missed cycles : 2). + 71.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374945 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 246 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 1.06sWARNros2_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 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.15sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789425215.58113861 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789425216.16027904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.59sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.31sWARNros2_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 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726702 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726702 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142355 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142355 ms (missed cycles : 3).[0m ×2 + 8.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.718ms + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308923 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308923 ms (missed cycles : 2).[0m ×2 + 9.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.303ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613828 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613828 ms (missed cycles : 3).[0m ×2 + 9.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.715ms + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.064ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778349 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778349 ms (missed cycles : 3).[0m ×2 + 10.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.376ms + 11.45sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.398ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596507 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596507 ms (missed cycles : 2).[0m ×2 + 12.06sWARNros2_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 + 12.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.725ms + 12.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.774ms + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100120 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100120 ms (missed cycles : 2).[0m ×2 + 13.26sINFOamclParticle filter update iteration stats: 4725 particles 723 points - 7.971ms + 13.84sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 6.269ms + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935334 ms (missed cycles : 3). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935334 ms (missed cycles : 3).[0m ×2 + 14.43sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 3.510ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081206 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081206 ms (missed cycles : 2).[0m ×2 + 15.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.564ms + 15.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257097 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257097 ms (missed cycles : 2).[0m ×2 + 16.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 16.81sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 16.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705732 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705732 ms (missed cycles : 2).[0m ×2 + 17.44sWARNros2_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 ×4 + 17.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783559 ms (missed cycles : 2). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783559 ms (missed cycles : 2).[0m ×2 + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377402 ms (missed cycles : 5). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377402 ms (missed cycles : 5).[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747647 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747647 ms (missed cycles : 2).[0m ×2 + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761657 ms (missed cycles : 3). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761657 ms (missed cycles : 3).[0m ×2 + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.468ms + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217314 ms (missed cycles : 3). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217314 ms (missed cycles : 3).[0m ×2 + 22.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520935 ms (missed cycles : 4). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520935 ms (missed cycles : 4).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491170 ms (missed cycles : 3). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491170 ms (missed cycles : 3).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234646 ms (missed cycles : 2). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234646 ms (missed cycles : 2).[0m ×2 + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973364 ms (missed cycles : 2). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973364 ms (missed cycles : 2).[0m ×2 + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 27.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561507 ms (missed cycles : 2). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561507 ms (missed cycles : 2).[0m ×2 + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 28.43sWARNros2_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 + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651368 ms (missed cycles : 2). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651368 ms (missed cycles : 2).[0m ×2 + 29.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694456 ms (missed cycles : 2). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694456 ms (missed cycles : 2).[0m ×2 + 29.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.552ms + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113666 ms (missed cycles : 2). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113666 ms (missed cycles : 2).[0m ×2 + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345783 ms (missed cycles : 2). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345783 ms (missed cycles : 2).[0m ×2 + 32.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390093 ms (missed cycles : 2). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390093 ms (missed cycles : 2).[0m ×2 + 33.34sWARNros2_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 + 33.98sWARNros2_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 + 34.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 34.00sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463670 ms (missed cycles : 4). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463670 ms (missed cycles : 4).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536570 ms (missed cycles : 3). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536570 ms (missed cycles : 3).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334448 ms (missed cycles : 3). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334448 ms (missed cycles : 3).[0m ×2 + 37.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669700 ms (missed cycles : 4). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669700 ms (missed cycles : 4).[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085321 ms (missed cycles : 2). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085321 ms (missed cycles : 2).[0m ×2 + 38.90sWARNros2_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 + 39.55sWARNros2_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 + 39.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025978 ms (missed cycles : 4). + 39.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025978 ms (missed cycles : 4).[0m ×2 + 40.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170821 ms (missed cycles : 3). + 40.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170821 ms (missed cycles : 3).[0m ×2 + 40.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673159 ms (missed cycles : 2). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673159 ms (missed cycles : 2).[0m ×2 + 42.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664547 ms (missed cycles : 3). + 42.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664547 ms (missed cycles : 3).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595213 ms (missed cycles : 3). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595213 ms (missed cycles : 3).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320788 ms (missed cycles : 2). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320788 ms (missed cycles : 2).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064721 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064721 ms (missed cycles : 3).[0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510519 ms (missed cycles : 3). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510519 ms (missed cycles : 3).[0m ×2 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947645 ms (missed cycles : 5). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947645 ms (missed cycles : 5).[0m ×2 + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889768 ms (missed cycles : 2). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889768 ms (missed cycles : 2).[0m ×2 + 49.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429203 ms (missed cycles : 3). + 49.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429203 ms (missed cycles : 3).[0m ×2 + 50.04sWARNros2_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 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024437 ms (missed cycles : 2). + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024437 ms (missed cycles : 2).[0m ×2 + 51.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 52.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022405 ms (missed cycles : 2). + 52.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022405 ms (missed cycles : 2).[0m ×2 + 53.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505791 ms (missed cycles : 4). + 53.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505791 ms (missed cycles : 4).[0m ×2 + 54.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076571 ms (missed cycles : 2). + 54.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076571 ms (missed cycles : 2).[0m ×2 + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460838 ms (missed cycles : 4). + 55.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460838 ms (missed cycles : 4).[0m ×2 + 55.62sWARNros2_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 + 55.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 56.28sWARNros2_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 + 56.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616443 ms (missed cycles : 3). + 56.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616443 ms (missed cycles : 3).[0m ×2 + 57.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787407 ms (missed cycles : 3). + 57.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787407 ms (missed cycles : 3).[0m ×2 + 58.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779026 ms (missed cycles : 3). + 58.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779026 ms (missed cycles : 3).[0m ×2 + 59.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 59.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321673 ms (missed cycles : 3). + 59.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321673 ms (missed cycles : 3).[0m ×2 + 59.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789425272.97040915 seconds ×3 + 59.64sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.64sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 59.94sWARNlocal_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. ×6 + 60.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.13sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789425273.58191824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.971ms + 60.56sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 60.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063805 ms (missed cycles : 3). + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063805 ms (missed cycles : 3).[0m ×2 + 60.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.05sWARNros2_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 + 61.62sWARNros2_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 + 61.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747400 ms (missed cycles : 2). + 61.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747400 ms (missed cycles : 2).[0m ×2 + 62.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832796 ms (missed cycles : 3). + 62.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832796 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 246 warnings · 206 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 ×8 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336919 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336919 ms (missed cycles : 4).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450005 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450005 ms (missed cycles : 4).[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.07sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789424981.97669768 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322903 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322903 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789424982.56476665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 2.471ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783676 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783676 ms (missed cycles : 5).[0m ×2 + 4.71sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932993 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932993 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.35sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.35sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933565 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933565 ms (missed cycles : 2).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369789 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369789 ms (missed cycles : 3).[0m ×2 + 8.75sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 4.296ms + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172376 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172376 ms (missed cycles : 2).[0m ×2 + 9.84sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.88sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 3.185ms + 9.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297260 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297260 ms (missed cycles : 2).[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 2.688ms + 11.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455147 ms (missed cycles : 3). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455147 ms (missed cycles : 3).[0m ×2 + 11.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112108 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112108 ms (missed cycles : 2).[0m ×2 + 12.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 12.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687897 ms (missed cycles : 3). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687897 ms (missed cycles : 3).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893420 ms (missed cycles : 4). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893420 ms (missed cycles : 4).[0m ×2 + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 15.12sWARNros2_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 + 15.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289025 ms (missed cycles : 2). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289025 ms (missed cycles : 2).[0m ×2 + 15.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 16.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981601 ms (missed cycles : 3). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981601 ms (missed cycles : 3).[0m ×2 + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.252ms + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.968ms + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890867 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890867 ms (missed cycles : 2).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802198 ms (missed cycles : 3). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802198 ms (missed cycles : 3).[0m ×2 + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125106 ms (missed cycles : 2). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125106 ms (missed cycles : 2).[0m ×2 + 19.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 20.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244060 ms (missed cycles : 5). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244060 ms (missed cycles : 5).[0m ×2 + 21.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 21.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 21.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169754 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169754 ms (missed cycles : 2).[0m ×2 + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518855 ms (missed cycles : 3). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518855 ms (missed cycles : 3).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382371 ms (missed cycles : 3). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382371 ms (missed cycles : 3).[0m ×2 + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 24.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094447 ms (missed cycles : 3). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094447 ms (missed cycles : 3).[0m ×2 + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms ×2 + 25.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098622 ms (missed cycles : 2). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098622 ms (missed cycles : 2).[0m ×2 + 26.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 26.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488191 ms (missed cycles : 3). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488191 ms (missed cycles : 3).[0m ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475014 ms (missed cycles : 3). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475014 ms (missed cycles : 3).[0m ×2 + 28.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396499 ms (missed cycles : 2). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396499 ms (missed cycles : 2).[0m ×2 + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 30.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926702 ms (missed cycles : 2). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926702 ms (missed cycles : 2).[0m ×2 + 30.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 31.42sWARNros2_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 + 31.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209256 ms (missed cycles : 2). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209256 ms (missed cycles : 2).[0m ×2 + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797120 ms (missed cycles : 2). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797120 ms (missed cycles : 2).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 33.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 33.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235507 ms (missed cycles : 2). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235507 ms (missed cycles : 2).[0m ×2 + 34.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 34.77sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541741 ms (missed cycles : 3). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541741 ms (missed cycles : 3).[0m ×2 + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484646 ms (missed cycles : 3). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484646 ms (missed cycles : 3).[0m ×2 + 36.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397307 ms (missed cycles : 3). + 36.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397307 ms (missed cycles : 3).[0m ×2 + 37.02sWARNros2_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 + 37.65sWARNros2_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 ×8 + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275324 ms (missed cycles : 2). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275324 ms (missed cycles : 2).[0m ×2 + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652485 ms (missed cycles : 3). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652485 ms (missed cycles : 3).[0m ×2 + 40.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846761 ms (missed cycles : 2). + 40.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846761 ms (missed cycles : 2).[0m ×2 + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436555 ms (missed cycles : 2). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436555 ms (missed cycles : 2).[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242389 ms (missed cycles : 4). + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242389 ms (missed cycles : 4).[0m ×2 + 42.51sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141286 ms (missed cycles : 3). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141286 ms (missed cycles : 3).[0m ×2 + 44.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619523 ms (missed cycles : 3). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619523 ms (missed cycles : 3).[0m ×2 + 45.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818320 ms (missed cycles : 4). + 45.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818320 ms (missed cycles : 4).[0m ×2 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738103 ms (missed cycles : 2). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738103 ms (missed cycles : 2).[0m ×2 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672210 ms (missed cycles : 2). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672210 ms (missed cycles : 2).[0m ×2 + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320146 ms (missed cycles : 3). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320146 ms (missed cycles : 3).[0m ×2 + 49.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.018ms + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.677401 ms (missed cycles : 5). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.677401 ms (missed cycles : 5).[0m ×2 + 50.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175138 ms (missed cycles : 2). + 50.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175138 ms (missed cycles : 2).[0m ×2 + 51.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123035 ms (missed cycles : 2). + 51.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123035 ms (missed cycles : 2).[0m ×2 + 52.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 52.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848763 ms (missed cycles : 4). + 52.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848763 ms (missed cycles : 4).[0m ×2 + 53.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870156 ms (missed cycles : 4). + 53.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870156 ms (missed cycles : 4).[0m ×2 + 54.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525421 ms (missed cycles : 3). + 54.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525421 ms (missed cycles : 3).[0m ×2 + 55.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295319 ms (missed cycles : 3). + 55.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295319 ms (missed cycles : 3).[0m ×2 + 56.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.896ms + 57.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.394971 ms (missed cycles : 6). + 57.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.394971 ms (missed cycles : 6).[0m ×2 + 58.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4). + 58.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4).[0m ×2 + 59.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3). + 59.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3).[0m ×2 + 60.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 60.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2). + 60.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2).[0m ×2 + 60.41sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789425039.32491446 seconds ×3 + 60.50sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.50sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.90sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.90sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 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: 1789425039.91819096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2). + 61.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2).[0m ×2 + 61.38sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 61.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.492ms + 61.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3). + 62.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3).[0m ×2 + 63.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4). + 63.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.1s | 247 warnings · 219 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430995 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430995 ms (missed cycles : 3).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×8 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942511 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942511 ms (missed cycles : 2).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322523 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322523 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789425078.43955541 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.663ms + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
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" ×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` starting at time: 1789425079.04287553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.609ms + 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 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558321 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558321 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962062 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962062 ms (missed cycles : 2).[0m ×2 + 5.47sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576707 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576707 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.62sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.62sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.62sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686375 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686375 ms (missed cycles : 3).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207591 ms (missed cycles : 4). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207591 ms (missed cycles : 4).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.744ms + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802230 ms (missed cycles : 5). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802230 ms (missed cycles : 5).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.633ms + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797058 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797058 ms (missed cycles : 2).[0m ×2 + 10.66sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.719ms + 11.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 11.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.478ms + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233106 ms (missed cycles : 4). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233106 ms (missed cycles : 4).[0m ×2 + 11.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.928ms + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605186 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605186 ms (missed cycles : 3).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.997ms + 13.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.924ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693318 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693318 ms (missed cycles : 2).[0m ×2 + 13.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.509ms + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.324ms + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789837 ms (missed cycles : 3). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789837 ms (missed cycles : 3).[0m ×2 + 14.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.248ms + 15.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.452ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481586 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481586 ms (missed cycles : 3).[0m ×2 + 16.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.913ms + 16.60sWARNros2_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 ×8 + 16.62sINFOamclParticle filter update iteration stats: 4611 particles 723 points - 7.884ms + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162080 ms (missed cycles : 4). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162080 ms (missed cycles : 4).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 3482 particles 723 points - 8.257ms + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711057 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711057 ms (missed cycles : 2).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 5.362ms + 18.39sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 3.763ms + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534644 ms (missed cycles : 4). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534644 ms (missed cycles : 4).[0m ×2 + 18.98sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 2.234ms + 19.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826239 ms (missed cycles : 3). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826239 ms (missed cycles : 3).[0m ×2 + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.471ms + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791934 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791934 ms (missed cycles : 2).[0m ×2 + 21.38sWARNros2_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 + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843511 ms (missed cycles : 3). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843511 ms (missed cycles : 3).[0m ×2 + 22.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676692 ms (missed cycles : 2). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676692 ms (missed cycles : 2).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.881ms + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918547 ms (missed cycles : 3). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918547 ms (missed cycles : 3).[0m ×2 + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms ×2 + 25.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644206 ms (missed cycles : 3). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644206 ms (missed cycles : 3).[0m ×2 + 25.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835694 ms (missed cycles : 3). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835694 ms (missed cycles : 3).[0m ×2 + 26.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.061ms + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672693 ms (missed cycles : 2). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672693 ms (missed cycles : 2).[0m ×2 + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032287 ms (missed cycles : 4). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032287 ms (missed cycles : 4).[0m ×2 + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737196 ms (missed cycles : 5). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737196 ms (missed cycles : 5).[0m ×2 + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.068ms + 30.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728149 ms (missed cycles : 5). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728149 ms (missed cycles : 5).[0m ×2 + 30.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255178 ms (missed cycles : 2). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255178 ms (missed cycles : 2).[0m ×2 + 31.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms ×2 + 32.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417261 ms (missed cycles : 3). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417261 ms (missed cycles : 3).[0m ×2 + 33.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008448 ms (missed cycles : 2). + 33.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008448 ms (missed cycles : 2).[0m ×2 + 33.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727514 ms (missed cycles : 2). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727514 ms (missed cycles : 2).[0m ×2 + 34.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414009 ms (missed cycles : 3). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414009 ms (missed cycles : 3).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155060 ms (missed cycles : 3). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155060 ms (missed cycles : 3).[0m ×2 + 37.53sWARNros2_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 + 38.19sWARNros2_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 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400126 ms (missed cycles : 3). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400126 ms (missed cycles : 3).[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118535 ms (missed cycles : 5). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118535 ms (missed cycles : 5).[0m ×2 + 39.64sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491807 ms (missed cycles : 4). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491807 ms (missed cycles : 4).[0m ×2 + 40.68sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769453 ms (missed cycles : 3). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769453 ms (missed cycles : 3).[0m ×2 + 42.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.323052 ms (missed cycles : 4). + 42.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.323052 ms (missed cycles : 4).[0m ×2 + 43.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 43.80sWARNros2_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 + 43.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms ×2 + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881970 ms (missed cycles : 3). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881970 ms (missed cycles : 3).[0m ×2 + 44.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493617 ms (missed cycles : 3). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493617 ms (missed cycles : 3).[0m ×2 + 45.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 45.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889328 ms (missed cycles : 3). + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889328 ms (missed cycles : 3).[0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669986 ms (missed cycles : 5). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669986 ms (missed cycles : 5).[0m ×2 + 47.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 47.60sWARNros2_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 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194753 ms (missed cycles : 3). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194753 ms (missed cycles : 3).[0m ×2 + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180280 ms (missed cycles : 3). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180280 ms (missed cycles : 3).[0m ×2 + 49.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 50.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 50.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525449 ms (missed cycles : 4). + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525449 ms (missed cycles : 4).[0m ×2 + 50.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 51.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.559779 ms (missed cycles : 5). + 51.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.559779 ms (missed cycles : 5).[0m ×2 + 51.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 52.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119697 ms (missed cycles : 2). + 52.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119697 ms (missed cycles : 2).[0m ×2 + 52.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.705ms + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881567 ms (missed cycles : 2). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881567 ms (missed cycles : 2).[0m ×2 + 53.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 54.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964320 ms (missed cycles : 2). + 54.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964320 ms (missed cycles : 2).[0m ×2 + 55.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525335 ms (missed cycles : 3). + 55.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525335 ms (missed cycles : 3).[0m ×2 + 55.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 56.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691209 ms (missed cycles : 3). + 56.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691209 ms (missed cycles : 3).[0m ×2 + 56.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 57.20sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789425132.53300810 seconds ×3 + 57.28sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 57.28sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 57.48sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 57.48sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 57.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256087 ms (missed cycles : 2). + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256087 ms (missed cycles : 2).[0m ×2 + 57.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 57.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 57.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789425133.11451864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.199ms + 58.20sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 58.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537330 ms (missed cycles : 2). + 58.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537330 ms (missed cycles : 2).[0m ×2 + 59.77sWARNros2_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 + 59.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702113 ms (missed cycles : 2). + 59.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702113 ms (missed cycles : 2).[0m ×2 + 60.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852549 ms (missed cycles : 2). + 60.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852549 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 181 warnings · 392 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.90sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.90sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.90sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.90sINFOobjective_server_nodecaller: ×12 + 0.90sINFOobjective_server_nodetype: 0 ×12 + 0.90sINFOobjective_server_nodename: "" ×12 + 0.90sINFOobjective_server_nodeinstance_id: "" ×12 + 0.90sINFOobjective_server_node ×12 + 0.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.94sINFOmove_groupClearing octomap...[0m ×4 + 0.95sINFOmove_groupOctomap cleared.[0m ×4 + 0.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 2.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×10 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_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 + 2.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250472 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250472 ms (missed cycles : 4).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996074 ms (missed cycles : 4). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996074 ms (missed cycles : 4).[0m ×2 + 8.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564786 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564786 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321285 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321285 ms (missed cycles : 3).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466396 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466396 ms (missed cycles : 2).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092685 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092685 ms (missed cycles : 2).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136653 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136653 ms (missed cycles : 2).[0m ×2 + 13.06sWARNros2_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 ×10 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581876 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581876 ms (missed cycles : 2).[0m ×2 + 14.81sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 4.166ms + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.766996 ms (missed cycles : 6). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.766996 ms (missed cycles : 6).[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886565 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886565 ms (missed cycles : 3).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124495 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124495 ms (missed cycles : 2).[0m ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117299 ms (missed cycles : 2). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117299 ms (missed cycles : 2).[0m ×2 + 18.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×6 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951148 ms (missed cycles : 3). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951148 ms (missed cycles : 3).[0m ×2 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974495 ms (missed cycles : 3). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974495 ms (missed cycles : 3).[0m ×2 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956402 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956402 ms (missed cycles : 2).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153781 ms (missed cycles : 3). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153781 ms (missed cycles : 3).[0m ×2 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912496 ms (missed cycles : 2). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912496 ms (missed cycles : 2).[0m ×2 + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968266 ms (missed cycles : 3). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968266 ms (missed cycles : 3).[0m ×2 + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352911 ms (missed cycles : 2). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352911 ms (missed cycles : 2).[0m ×2 + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368911 ms (missed cycles : 3). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368911 ms (missed cycles : 3).[0m ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122276 ms (missed cycles : 2). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122276 ms (missed cycles : 2).[0m ×2 + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089298 ms (missed cycles : 2). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089298 ms (missed cycles : 2).[0m ×2 + 29.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804073 ms (missed cycles : 2). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804073 ms (missed cycles : 2).[0m ×2 + 31.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156751 ms (missed cycles : 2). + 31.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156751 ms (missed cycles : 2).[0m ×2 + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742142 ms (missed cycles : 2). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742142 ms (missed cycles : 2).[0m ×2 + 33.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072726 ms (missed cycles : 2). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072726 ms (missed cycles : 2).[0m ×2 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018670 ms (missed cycles : 2). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018670 ms (missed cycles : 2).[0m ×2 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170324 ms (missed cycles : 3). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170324 ms (missed cycles : 3).[0m ×2 + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610963 ms (missed cycles : 2). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610963 ms (missed cycles : 2).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851629 ms (missed cycles : 4). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851629 ms (missed cycles : 4).[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787727 ms (missed cycles : 3). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787727 ms (missed cycles : 3).[0m ×2 + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371724 ms (missed cycles : 3). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371724 ms (missed cycles : 3).[0m ×2 + 41.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224049 ms (missed cycles : 2). + 41.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224049 ms (missed cycles : 2).[0m ×2 + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686314 ms (missed cycles : 2). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686314 ms (missed cycles : 2).[0m ×2 + 42.81sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.252ms + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702880 ms (missed cycles : 2). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702880 ms (missed cycles : 2).[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652467 ms (missed cycles : 2). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652467 ms (missed cycles : 2).[0m ×2 + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967659 ms (missed cycles : 2). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967659 ms (missed cycles : 2).[0m ×2 + 46.58sINFOjoint_trajectory_controllerGoal reached, success! + 46.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789424975.85813260 seconds ×3 + 46.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733907 ms (missed cycles : 2). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733907 ms (missed cycles : 2).[0m ×2 + 47.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.16sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789424976.43657207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442989 ms (missed cycles : 4). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442989 ms (missed cycles : 4).[0m ×2 + 48.30sINFOobjective_server_nodeFound path in 0 iterations (2.583e-05 s). ×2 + 48.36sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447173 ms (missed cycles : 3). + 48.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447173 ms (missed cycles : 3).[0m ×2 + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3). + 49.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3).[0m ×2 + 50.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 150 warnings · 183 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527371 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527371 ms (missed cycles : 3).[0m ×2 + 0.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938131 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938131 ms (missed cycles : 2).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.15sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769550 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769550 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789425045.71833849 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802151 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802151 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789425047.28939438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193747 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193747 ms (missed cycles : 2).[0m ×2 + 4.68sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399493 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399493 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313861 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313861 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.50sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.50sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959364 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959364 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195202 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195202 ms (missed cycles : 2).[0m ×2 + 8.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.909ms + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817203 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817203 ms (missed cycles : 3).[0m ×2 + 9.87sWARNros2_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 + 9.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.731ms + 10.45sWARNros2_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 + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.877ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974078 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974078 ms (missed cycles : 2).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.206ms + 11.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.379ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414269 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414269 ms (missed cycles : 3).[0m ×2 + 12.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.518ms + 12.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.535ms + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940549 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940549 ms (missed cycles : 3).[0m ×2 + 13.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.218ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987168 ms (missed cycles : 6). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987168 ms (missed cycles : 6).[0m ×2 + 14.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.486ms + 14.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.520ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902494 ms (missed cycles : 5). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902494 ms (missed cycles : 5).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 4942 particles 723 points - 9.521ms + 15.87sWARNros2_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 + 15.90sINFOamclParticle filter update iteration stats: 3263 particles 723 points - 11.046ms + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649346 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649346 ms (missed cycles : 3).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 4.940ms + 17.12sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.571ms + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563903 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563903 ms (missed cycles : 2).[0m ×2 + 17.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 18.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809708 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809708 ms (missed cycles : 3).[0m ×2 + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201241 ms (missed cycles : 2). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201241 ms (missed cycles : 2).[0m ×2 + 19.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 20.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596335 ms (missed cycles : 3). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596335 ms (missed cycles : 3).[0m ×2 + 20.76sWARNros2_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 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 21.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 21.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797274 ms (missed cycles : 2). + 21.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797274 ms (missed cycles : 2).[0m ×2 + 22.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.724ms + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735588 ms (missed cycles : 2). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735588 ms (missed cycles : 2).[0m ×2 + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.932ms + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484579 ms (missed cycles : 3). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484579 ms (missed cycles : 3).[0m ×2 + 24.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475685 ms (missed cycles : 3). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475685 ms (missed cycles : 3).[0m ×2 + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.059ms + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875909 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875909 ms (missed cycles : 2).[0m ×2 + 26.28sWARNros2_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 + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 26.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403937 ms (missed cycles : 4). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403937 ms (missed cycles : 4).[0m ×2 + 27.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511558 ms (missed cycles : 3). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511558 ms (missed cycles : 3).[0m ×2 + 28.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.154ms + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308604 ms (missed cycles : 3). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308604 ms (missed cycles : 3).[0m ×2 + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms ×2 + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145246 ms (missed cycles : 2). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145246 ms (missed cycles : 2).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 31.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586991 ms (missed cycles : 3). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586991 ms (missed cycles : 3).[0m ×2 + 31.81sWARNros2_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 + 31.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430995 ms (missed cycles : 3). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430995 ms (missed cycles : 3).[0m ×2 + 32.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 33.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 33.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942511 ms (missed cycles : 2). + 33.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942511 ms (missed cycles : 2).[0m ×2 + 33.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322523 ms (missed cycles : 2). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322523 ms (missed cycles : 2).[0m ×2 + 34.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789425078.43955541 seconds ×3 + 34.99sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.99sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.663ms + 35.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789425079.04287553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.609ms + 35.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558321 ms (missed cycles : 3). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558321 ms (missed cycles : 3).[0m ×2 + 35.91sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 36.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962062 ms (missed cycles : 2). + 36.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962062 ms (missed cycles : 2).[0m ×2 + 37.28sWARNros2_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 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576707 ms (missed cycles : 3). + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576707 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 15.9s | 100 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616443 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616443 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787407 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787407 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779026 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779026 ms (missed cycles : 3).[0m ×2 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321673 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321673 ms (missed cycles : 3).[0m ×2 + 3.14sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.14sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789425272.97040915 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.48sWARNlocal_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. ×6 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789425273.58191824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.971ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063805 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063805 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.59sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.17sWARNros2_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 ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747400 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747400 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832796 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832796 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879132 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879132 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834597 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834597 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923203 ms (missed cycles : 5). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923203 ms (missed cycles : 5).[0m ×2 + 10.18sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 10.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.28sINFOobjective_server_nodeFound path in 0 iterations (7.26e-07 s). ×2 + 10.36sWARNros2_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 + 10.38sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.43sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.56sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324497 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324497 ms (missed cycles : 2).[0m ×2 + 10.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.98sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 11.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 11.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 11.69sINFOobjective_server_nodeFound path in 33 iterations (0.0320082 s). ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245425 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245425 ms (missed cycles : 2).[0m ×2 + 12.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 12.24sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695541 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695541 ms (missed cycles : 3).[0m ×2 + 12.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.08sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808700 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808700 ms (missed cycles : 3).[0m ×2 + 14.87sWARNros2_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 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731229 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731229 ms (missed cycles : 3).[0m ×2 + 15.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.092ms + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740202 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740202 ms (missed cycles : 3).[0m ×2 + 16.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.125ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556739 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556739 ms (missed cycles : 3).[0m ×2 + 17.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.860ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793520 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793520 ms (missed cycles : 2).[0m ×2 + 18.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.798ms + 19.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789425288.91731691 seconds ×3 + 19.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960212 ms (missed cycles : 4). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960212 ms (missed cycles : 4).[0m ×2 + 19.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.63sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789425289.53138518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.70sINFOmove_groupClearing octomap...[0m ×2 + 19.70sINFOmove_groupOctomap cleared.[0m ×2 + 19.74sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.74sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.820ms + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087762 ms (missed cycles : 4). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087762 ms (missed cycles : 4).[0m ×2 + 20.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789425290.15161872 seconds ×3 + 20.44sWARNros2_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 + 20.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.86sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789425290.72613621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901373 ms (missed cycles : 2). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901373 ms (missed cycles : 2).[0m ×2 + 21.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789425291.24627233 seconds ×3 + 21.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779854 ms (missed cycles : 5). + 22.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779854 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 104 errors · 41 warnings · 519 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556739 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556739 ms (missed cycles : 3).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.860ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793520 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793520 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.798ms + 1.99sINFOjoint_trajectory_controllerGoal reached, success! + 1.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789425288.91731691 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960212 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960212 ms (missed cycles : 4).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789425289.53138518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.64sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.67sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.820ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087762 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087762 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789425290.15161872 seconds ×3 + 3.38sWARNros2_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 + 3.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789425290.72613621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901373 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901373 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789425291.24627233 seconds ×3 + 4.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779854 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779854 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962444 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962444 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099647 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099647 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563907 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563907 ms (missed cycles : 2).[0m ×2 + 8.82sWARNros2_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 + 8.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307588 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307588 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459005 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459005 ms (missed cycles : 3).[0m ×2 + 10.62sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.64sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORweb_video_auth_proxy-38process has died [pid 7791, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.65sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.66sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORweb_bridge_auth_proxy-37process has died [pid 7790, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.66sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.68sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.68sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.69sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.70sINFOvideo_server-36process has finished cleanly [pid 7789] ×2 + 10.70sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.71sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.72sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.73sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.75sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.76sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.77sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.78sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.79sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.81sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.81sINFOcontroller_managerShutdown request received.... + 10.81sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.81sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.81sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.81sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.81sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.81sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.81sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.82sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.82sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.82sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.82sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.82sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.82sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.82sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.82sINFOcontroller_managerShutting down the controller manager. + 10.91sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.93sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.93sERRORmove_group-24process has died [pid 7729, 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_x663lam3 --params-file /tmp/launch_params_94evv9xo --params-file /tmp/launch_params_830luhyj --params-file /tmp/launch_params_e2yubzan --params-file /tmp/launch_params_kftbq4k4 --params-file /tmp/launch_params_6bmucjuf']. ×2 + 10.94sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.94sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.95sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.97sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.98sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.99sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.00sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.01sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.03sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.03sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.03sINFOmap_serverDeactivating + 11.03sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.04sINFOmap_serverCleaning up + 11.04sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.04sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.04sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.04sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.04sINFOcontroller_serverDeactivating + 11.04sINFOlocal_costmap.local_costmapDeactivating + 11.04sINFOvideo_server2026/09/14 22:34:57 INF shutting down gracefully ×2 + 11.04sINFOvideo_server2026/09/14 22:34:57 INF [WebRTC] closing ×2 + 11.04sINFOvideo_server2026/09/14 22:34:57 INF [RTSP] closing ×2 + 11.04sINFOvideo_server2026/09/14 22:34:57 INF waiting for running hooks ×2 + 11.04sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.04sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.04sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.04sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.04sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.04sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.05sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.05sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.05sERRORmove_groupStack trace (most recent call last) in thread 8422: ×2 + 11.05sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.05sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fe8b10a63, in __clone ×2 + 11.05sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fe8a83aa3, in ×2 + 11.05sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6fe8d15db3, in ×2 + 11.05sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f6fe9479b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.05sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fe90a7620, in rclcpp::Rate::sleep() ×2 + 11.05sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fe8fe9d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.05sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fe8fab087, in ×2 + 11.05sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.05sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.05sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.05sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.05sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.05sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.05sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.05sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.05sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6fe8ce4390, in __cxa_throw ×2 + 11.05sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6fe8ccea54, in std::terminate() ×2 + 11.05sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6fe8ce40d9, in ×2 + 11.05sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6fe8cceff4, in ×2 + 11.05sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fe8a0f8fe, in abort ×2 + 11.05sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fe8a2c27d, in raise ×2 + 11.05sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fe8a85b2c, in pthread_kill ×2 + 11.05sERRORmove_groupAborted (Signal sent by tkill() 7729 0) ×2 + 11.05sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.05sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 11.06sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.06sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.06sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.06sINFOodom_qos_relay.pymain() ×2 + 11.06sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.06sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.06sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.06sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.06sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.06sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.06sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.06sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.06sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.06sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.06sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.06sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.06sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.06sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.06sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.06sERRORamclThe bond connection to the lifecycle manager has been broken + 11.06sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.06sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 11.06sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.12sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.13sINFOcontroller_serverCleaning up + 11.13sINFOlocal_costmap.local_costmapCleaning up + 11.17sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.17sINFOsmoother_serverDeactivating + 11.17sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.18sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.18sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.18sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.18sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.18sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.18sINFOvelocity_smootherDeactivating + 11.18sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.18sINFOsmoother_serverCleaning up + 11.20sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.20sINFOplanner_serverDeactivating + 11.20sINFOglobal_costmap.global_costmapDeactivating + 11.30sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.30sINFOwaypoint_followerDeactivating + 11.30sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.41sINFObt_navigatorDeactivating + 11.41sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.52sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.52sINFObehavior_serverDeactivating + 11.52sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.64sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.64sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.64sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.64sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.64sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.64sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.64sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.64sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.64sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.64sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.64sINFOvelocity_smootherCleaning up + 11.64sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.64sINFOwaypoint_followerCleaning up + 11.67sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.67sINFObt_navigatorCleaning up + 11.74sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7788] ×2 + 11.74sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.81sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7781] ×2 + 11.82sINFOui_teleop_bridge-33process has finished cleanly [pid 7786] ×2 + 11.82sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7780] ×2 + 11.83sINFOexecute_objective_bridge-32process has finished cleanly [pid 7785] ×2 + 11.85sINFObt_navigatorCompleted Cleaning up + 11.85sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.85sINFObehavior_serverCleaning up + 11.86sINFOparameter_manager_node-25process has finished cleanly [pid 7778] ×2 + 11.88sINFOwaypoint_manager_node-26process has finished cleanly [pid 7779] ×2 + 11.89sINFOcomponent_container_mt-31process has finished cleanly [pid 7784] ×2 + 11.91sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.91sINFOobjective_server_node[2026-09-14 22:34:58.800] [moveit_pro_license] [critical] ×2 + 11.91sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.91sINFOobjective_server_node************************************************* ×4 + 11.91sINFOobjective_server_node* MoveIt Pro License ×2 + 11.91sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.91sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.91sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.91sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.91sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.91sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.94sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.94sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.95sINFOplanner_serverCleaning up + 11.96sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7714] ×2 + 11.97sINFOglobal_costmap.global_costmapCleaning up + 11.97sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7713] ×2 + 11.98sINFOobjective_server_node_main-29process has finished cleanly [pid 7782] ×2 + 11.98sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.98sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.98sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.98sINFOstatic_transform_publisher-9process has finished cleanly [pid 7631] ×2 + 12.00sINFOstatic_transform_publisher-8process has finished cleanly [pid 7630] ×2 + 12.01sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.01sINFOlidar_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 + 12.01sINFOlidar_flattener.pymain() ×2 + 12.01sINFOlidar_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 + 12.01sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.01sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.01sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.01sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.01sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.01sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.01sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.01sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.01sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.01sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.01sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.01sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.01sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.01sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.01sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.01sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.01sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.01sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.01sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.05sINFOstatic_transform_publisher-4process has finished cleanly [pid 7626] ×2 + 12.05sERRORlidar_flattener.py-7process has died [pid 7629, 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__y7uh9sh']. ×2 + 12.06sINFOstatic_transform_publisher-3process has finished cleanly [pid 7625] ×2 + 12.09sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7628] ×2 + 12.09sERRORodom_qos_relay.py-5process has died [pid 7627, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.34sERRORcomponent_container_isolated-1process has died [pid 7623, 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_wk_wmyd8 --params-file /tmp/launch_params_puahsmmn -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.40sERRORcomponent_container_isolated-2process has died [pid 7624, 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_wk_wmyd8 --params-file /tmp/launch_params_fucfprkv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.94sINFOcomponent_container_mt-30process has finished cleanly [pid 7783] ×2 + 13.54sINFOros2_control_node-12process has finished cleanly [pid 7715] ×2 + 13.62sINFOweb_bridge-34process has finished cleanly [pid 7787] ×2 + 13.62sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 97 warnings · 155 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964320 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964320 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525335 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525335 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691209 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691209 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789425132.53300810 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256087 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256087 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789425133.11451864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.199ms + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.16sWARNros2_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 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537330 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537330 ms (missed cycles : 2).[0m ×2 + 5.35sWARNros2_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 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702113 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702113 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852549 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852549 ms (missed cycles : 2).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906303 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906303 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393296 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393296 ms (missed cycles : 3).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.504ms + 9.34sWARNros2_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 + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.465ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907269 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907269 ms (missed cycles : 3).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.340ms + 10.51sWARNros2_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 + 10.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.817ms + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680527 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680527 ms (missed cycles : 2).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.276ms + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.205ms + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094498 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094498 ms (missed cycles : 2).[0m ×2 + 12.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 12.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.447ms + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012879 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012879 ms (missed cycles : 2).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 4228 particles 723 points - 8.089ms + 13.78sINFOobjective_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 + 13.80sINFOjoint_trajectory_controllerGot request to cancel goal + 13.80sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.82sERRORobjective_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: 1789425143.57905579 seconds ×3 + 13.86sWARNlocal_costmap.local_costmapSensor origin at (-0.46, 2.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.86sWARNlocal_costmap.local_costmapSensor origin at (-1.36, 2.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 14.06sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.06sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.07sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 5.875ms + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696043 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696043 ms (missed cycles : 2).[0m ×2 + 14.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789425144.15489149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sWARNros2_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 + 14.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 14.83sINFOobjective_server_nodeFound path in 0 iterations (5.19e-07 s). ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586361 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586361 ms (missed cycles : 3).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010132 ms (missed cycles : 4). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010132 ms (missed cycles : 4).[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677939 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677939 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 71 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4).[0m ×2 + 0.89sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_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 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.25sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789425039.32491446 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789425039.91819096 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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.492ms + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.61sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4).[0m ×2 + 6.08sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527371 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527371 ms (missed cycles : 3).[0m ×2 + 6.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938131 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938131 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769550 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769550 ms (missed cycles : 3).[0m ×2 + 8.66sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789425045.71833849 seconds ×3 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802151 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802151 ms (missed cycles : 2).[0m ×2 + 10.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.19sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.23sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789425047.28939438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.64sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193747 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193747 ms (missed cycles : 2).[0m ×2 + 11.76sWARNros2_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 + 11.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399493 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399493 ms (missed cycles : 3).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313861 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313861 ms (missed cycles : 2).[0m ×2 + 12.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 58 warnings · 138 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.097ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784710 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784710 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397811 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397811 ms (missed cycles : 2).[0m ×2 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.261ms + 2.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789425209.11514330 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779890 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779890 ms (missed cycles : 3).[0m ×2 + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.42sWARNros2_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 + 2.51sWARNlocal_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 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789425209.70098734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.166ms + 3.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589930 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589930 ms (missed cycles : 4).[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748091 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748091 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374945 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374945 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 7.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2).[0m ×2 + 8.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789425215.58113861 seconds ×3 + 9.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.32sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789425216.16027904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4).[0m ×2 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2).[0m ×2 + 12.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 51 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702880 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702880 ms (missed cycles : 2).[0m ×2 + 0.40sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652467 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652467 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967659 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967659 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789424975.85813260 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733907 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733907 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789424976.43657207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442989 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442989 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (2.583e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447173 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447173 ms (missed cycles : 3).[0m ×2 + 6.17sWARNros2_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 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3).[0m ×2 + 6.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 7.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336919 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336919 ms (missed cycles : 4).[0m ×2 + 7.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 8.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450005 ms (missed cycles : 4). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450005 ms (missed cycles : 4).[0m ×2 + 9.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 9.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789424981.97669768 seconds ×3 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322903 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322903 ms (missed cycles : 2).[0m ×2 + 9.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.78sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789424982.56476665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 10.31sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 2.471ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783676 ms (missed cycles : 5). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783676 ms (missed cycles : 5).[0m ×2 + 10.88sWARNros2_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 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932993 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932993 ms (missed cycles : 2).[0m ×2 + 12.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933565 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933565 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 28 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740202 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740202 ms (missed cycles : 3).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.125ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556739 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556739 ms (missed cycles : 3).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.860ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793520 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793520 ms (missed cycles : 2).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.798ms + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789425288.91731691 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960212 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960212 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789425289.53138518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.67sINFOmove_groupClearing octomap...[0m ×2 + 3.67sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.820ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087762 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087762 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789425290.15161872 seconds ×3 + 4.41sWARNros2_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 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789425290.72613621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901373 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901373 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789425291.24627233 seconds ×3 + 5.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779854 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779854 ms (missed cycles : 5).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962444 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962444 ms (missed cycles : 3).[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 4.688461 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 1.06sWARNros2_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 + 1.64sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! + 2.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789425215.58113861 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789425216.16027904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_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 3.958276 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.90sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.90sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.90sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.90sINFOobjective_server_nodecaller: ×10 + 0.90sINFOobjective_server_nodetype: 0 ×10 + 0.90sINFOobjective_server_nodename: "" ×10 + 0.90sINFOobjective_server_nodeinstance_id: "" ×10 + 0.90sINFOobjective_server_node ×10 + 0.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.94sINFOmove_groupClearing octomap...[0m ×4 + 0.95sINFOmove_groupOctomap cleared.[0m ×4 + 0.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 2.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_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 + 2.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.42sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250472 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250472 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 29 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702880 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702880 ms (missed cycles : 2).[0m ×2 + 0.40sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652467 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652467 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967659 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967659 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789424975.85813260 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733907 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733907 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789424976.43657207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442989 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442989 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (2.583e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447173 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447173 ms (missed cycles : 3).[0m ×2 + 6.17sWARNros2_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 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3).[0m ×2 + 6.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 29 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702880 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702880 ms (missed cycles : 2).[0m ×2 + 0.40sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652467 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652467 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967659 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967659 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789424975.85813260 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733907 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733907 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789424976.43657207 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442989 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442989 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (2.583e-05 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447173 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447173 ms (missed cycles : 3).[0m ×2 + 6.17sWARNros2_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 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3).[0m ×2 + 6.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 24 warnings · 339 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.35sWARNros2_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 + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.48sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.18sINFOmove_groupClearing octomap...[0m ×4 + 3.18sINFOmove_groupOctomap cleared.[0m ×4 + 3.18sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.18sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 5.07sWARNros2_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 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 27 warnings · 75 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 ×4 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689501 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336919 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336919 ms (missed cycles : 4).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.184ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450005 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450005 ms (missed cycles : 4).[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789424981.97669768 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322903 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322903 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789424982.56476665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 2.471ms + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783676 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783676 ms (missed cycles : 5).[0m ×2 + 4.71sWARNros2_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 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932993 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932993 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal + 6.35sINFOjoint_trajectory_controllerAccepted new action goal + 6.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933565 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933565 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4).[0m ×2 + 0.89sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_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 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789425039.32491446 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789425039.91819096 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 ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.492ms + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4).[0m ×2 + 0.89sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_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 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789425039.32491446 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789425039.91819096 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 ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.492ms + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4).[0m ×2 + 0.89sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_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 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789425039.32491446 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789425039.91819096 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 ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.492ms + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4).[0m ×2 + 0.89sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_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 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789425039.32491446 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789425039.91819096 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 ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.492ms + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600770 ms (missed cycles : 4).[0m ×2 + 0.89sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683040 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_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 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313260 ms (missed cycles : 2).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789425039.32491446 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789425039.91819096 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 ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288475 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.492ms + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450230 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830580 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 38 warnings · 75 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430995 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430995 ms (missed cycles : 3).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942511 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942511 ms (missed cycles : 2).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322523 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322523 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789425078.43955541 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.663ms + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789425079.04287553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.609ms + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558321 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558321 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962062 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962062 ms (missed cycles : 2).[0m ×2 + 5.47sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576707 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576707 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 38 warnings · 75 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430995 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430995 ms (missed cycles : 3).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942511 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942511 ms (missed cycles : 2).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322523 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322523 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789425078.43955541 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.663ms + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789425079.04287553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.609ms + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558321 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558321 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962062 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962062 ms (missed cycles : 2).[0m ×2 + 5.47sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576707 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576707 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 38 warnings · 75 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430995 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430995 ms (missed cycles : 3).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.847ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942511 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942511 ms (missed cycles : 2).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322523 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322523 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789425078.43955541 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.663ms + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789425079.04287553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.609ms + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558321 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558321 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962062 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962062 ms (missed cycles : 2).[0m ×2 + 5.47sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576707 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576707 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 24 warnings · 339 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.35sWARNros2_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 + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.48sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.18sINFOmove_groupClearing octomap...[0m ×4 + 3.18sINFOmove_groupOctomap cleared.[0m ×4 + 3.18sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.18sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 5.07sWARNros2_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 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_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 4.688461 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 1.06sWARNros2_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 + 1.64sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! + 2.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789425215.58113861 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789425216.16027904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 24 warnings · 339 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.35sWARNros2_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 + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.48sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.18sINFOmove_groupClearing octomap...[0m ×4 + 3.18sINFOmove_groupOctomap cleared.[0m ×4 + 3.18sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.18sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 5.07sWARNros2_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 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_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 4.688461 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 1.06sWARNros2_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 + 1.64sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! + 2.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789425215.58113861 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789425216.16027904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_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 4.688461 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 1.06sWARNros2_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 + 1.64sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! + 2.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789425215.58113861 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789425216.16027904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_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 4.688461 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 1.06sWARNros2_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 + 1.64sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! + 2.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789425215.58113861 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789425216.16027904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_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 4.688461 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 1.06sWARNros2_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 + 1.64sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! + 2.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789425215.58113861 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789425216.16027904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_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 4.688461 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688461 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 1.06sWARNros2_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 + 1.64sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657121 ms (missed cycles : 2).[0m ×2 + 2.15sINFOjoint_trajectory_controllerGoal reached, success! + 2.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789425215.58113861 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789425216.16027904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526455 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911246 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794542 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740202 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740202 ms (missed cycles : 3).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.125ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556739 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556739 ms (missed cycles : 3).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.860ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793520 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793520 ms (missed cycles : 2).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.798ms + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789425288.91731691 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960212 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960212 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789425289.53138518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.67sINFOmove_groupClearing octomap...[0m ×2 + 3.67sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.820ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087762 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087762 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789425290.15161872 seconds ×3 + 4.41sWARNros2_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 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789425290.72613621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901373 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901373 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789425291.24627233 seconds ×3 + 5.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779854 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779854 ms (missed cycles : 5).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 25 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 0.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 1.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.96sINFOobjective_server_nodecaller: ×10 + 1.96sINFOobjective_server_nodetype: 0 ×10 + 1.96sINFOobjective_server_nodename: "" ×10 + 1.96sINFOobjective_server_nodeinstance_id: "" ×10 + 1.96sINFOobjective_server_node ×10 + 2.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.00sINFOmove_groupClearing octomap...[0m ×4 + 2.00sINFOmove_groupOctomap cleared.[0m ×4 + 2.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.89sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 4.48sWARNros2_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 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 29 warnings · 341 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841444 ms (missed cycles : 2).[0m ×2 + 0.15sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.15sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.25sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.25sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.25sINFObehavior_serverActivating + 0.25sINFObehavior_serverActivating spin + 0.25sINFObehavior_serverActivating backup + 0.25sINFObehavior_serverActivating drive_on_heading + 0.25sINFObehavior_serverActivating assisted_teleop + 0.25sINFObehavior_serverActivating wait + 0.25sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.36sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.36sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.36sINFObt_navigatorActivating + 0.42sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.52sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.52sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.53sINFOwaypoint_followerActivating + 0.53sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.60sWARNros2_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 + 0.63sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.63sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.63sINFOvelocity_smootherActivating + 0.63sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.73sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.73sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.73sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 2.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.40sINFOobjective_server_nodecaller: ×10 + 3.40sINFOobjective_server_nodetype: 0 ×10 + 3.40sINFOobjective_server_nodename: "" ×10 + 3.40sINFOobjective_server_nodeinstance_id: "" ×10 + 3.40sINFOobjective_server_node ×10 + 3.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.44sINFOmove_groupClearing octomap...[0m ×4 + 3.44sINFOmove_groupOctomap cleared.[0m ×4 + 3.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 5.33sWARNros2_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 + 5.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_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 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 7.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 345 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.35sWARNros2_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 + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.48sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.18sINFOmove_groupClearing octomap...[0m ×4 + 3.18sINFOmove_groupOctomap cleared.[0m ×4 + 3.18sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.18sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 5.07sWARNros2_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 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.15sINFOjoint_trajectory_controllerReceived new action goal + 7.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.15sINFOjoint_trajectory_controllerAccepted new action goal + 7.15sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 26 warnings · 338 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841444 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841444 ms (missed cycles : 2).[0m ×2 + 0.15sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.15sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.25sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.25sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.25sINFObehavior_serverActivating + 0.25sINFObehavior_serverActivating spin + 0.25sINFObehavior_serverActivating backup + 0.25sINFObehavior_serverActivating drive_on_heading + 0.25sINFObehavior_serverActivating assisted_teleop + 0.25sINFObehavior_serverActivating wait + 0.25sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.36sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.36sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.36sINFObt_navigatorActivating + 0.42sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.52sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.52sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.53sINFOwaypoint_followerActivating + 0.53sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.60sWARNros2_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 + 0.63sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.63sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.63sINFOvelocity_smootherActivating + 0.63sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.73sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.73sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.73sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 2.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.40sINFOobjective_server_nodecaller: ×10 + 3.40sINFOobjective_server_nodetype: 0 ×10 + 3.40sINFOobjective_server_nodename: "" ×10 + 3.40sINFOobjective_server_nodeinstance_id: "" ×10 + 3.40sINFOobjective_server_node ×10 + 3.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.44sINFOmove_groupClearing octomap...[0m ×4 + 3.44sINFOmove_groupOctomap cleared.[0m ×4 + 3.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 5.33sWARNros2_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 + 5.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_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 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 339 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.35sWARNros2_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 + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.48sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.18sINFOmove_groupClearing octomap...[0m ×4 + 3.18sINFOmove_groupOctomap cleared.[0m ×4 + 3.18sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.18sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 5.07sWARNros2_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 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 339 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.35sWARNros2_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 + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.48sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.18sINFOmove_groupClearing octomap...[0m ×4 + 3.18sINFOmove_groupOctomap cleared.[0m ×4 + 3.18sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.18sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 5.07sWARNros2_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 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 339 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.35sWARNros2_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 + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.48sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.18sINFOmove_groupClearing octomap...[0m ×4 + 3.18sINFOmove_groupOctomap cleared.[0m ×4 + 3.18sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.18sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 5.07sWARNros2_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 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009568 ms (missed cycles : 2).[0m ×2 + 0.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 1.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.96sINFOobjective_server_nodecaller: ×10 + 1.96sINFOobjective_server_nodetype: 0 ×10 + 1.96sINFOobjective_server_nodename: "" ×10 + 1.96sINFOobjective_server_nodeinstance_id: "" ×10 + 1.96sINFOobjective_server_node ×10 + 2.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.00sINFOmove_groupClearing octomap...[0m ×4 + 2.00sINFOmove_groupOctomap cleared.[0m ×4 + 2.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.89sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 4.48sWARNros2_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 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeAccepted new action goal[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250472 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250472 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[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 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958276 ms (missed cycles : 3).[0m ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.24sINFOobjective_server_nodecaller: ×10 + 1.24sINFOobjective_server_nodetype: 0 ×10 + 1.24sINFOobjective_server_nodename: "" ×10 + 1.24sINFOobjective_server_nodeinstance_id: "" ×10 + 1.24sINFOobjective_server_node ×10 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789424930.17489648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.28sINFOmove_groupClearing octomap...[0m ×4 + 1.28sINFOmove_groupOctomap cleared.[0m ×4 + 1.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789424930.18512821 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275053 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789424930.76957345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789424930.77970982 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789424931.38082337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789424931.53147626 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418584 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789424932.13589334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_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 + 3.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789424932.19805789 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028143 ms (missed cycles : 2).[0m ×2 + 3.75sWARNros2_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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789424932.77349663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693355 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267726 ms (missed cycles : 2).[0m ×2 | ||||