MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.4s	12 errors · 321 warnings · 1566 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/2026-09-15-13-43-33-789383-75d1520e7f01-7615 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.34sINFOstatic_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' + 4.34sINFOstatic_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' + 4.35sINFOstatic_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' + 4.35sINFOstatic_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' + 4.56sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.60sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.60sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.62sINFOcontroller_managerupdate rate is 600 Hz + 4.62sINFOcontroller_managerOverruns handling is : enabled + 4.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.63sWARNcontroller_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. + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.687847 ms (missed cycles : 6). + 4.65sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.69sINFOros2_control_node-12process started with pid [7757] ×2 + 4.70sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.70sINFOmove_group-24process started with pid [7777] ×2 + 4.70sINFOparameter_manager_node-25process started with pid [7820] ×2 + 4.70sINFOwaypoint_manager_node-26process started with pid [7821] ×2 + 4.70sINFOmove_joint_resampler_node-27process started with pid [7822] ×2 + 4.70sINFOmove_end_effector_resampler_node-28process started with pid [7823] ×2 + 4.70sINFOobjective_server_node_main-29process started with pid [7824] ×2 + 4.70sINFOcomponent_container_mt-30process started with pid [7825] ×2 + 4.70sINFOcomponent_container_mt-31process started with pid [7826] ×2 + 4.70sINFOexecute_objective_bridge-32process started with pid [7827] ×2 + 4.70sINFOui_teleop_bridge-33process started with pid [7828] ×2 + 4.70sINFOweb_bridge-34process started with pid [7851] ×2 + 4.70sINFOtf2_web_republisher_node-35process started with pid [7860] ×2 + 4.70sINFOvideo_server-36process started with pid [7861] ×2 + 4.70sINFOweb_bridge_auth_proxy-37process started with pid [7865] ×2 + 4.71sINFOweb_video_auth_proxy-38process started with pid [7871] ×2 + 4.71sINFOcomponent_container_isolated-1process started with pid [7665] ×2 + 4.71sINFOcomponent_container_isolated-2process started with pid [7666] ×2 + 4.71sINFOstatic_transform_publisher-3process started with pid [7667] ×2 + 4.71sINFOstatic_transform_publisher-4process started with pid [7668] ×2 + 4.71sINFOodom_qos_relay.py-5process started with pid [7669] ×2 + 4.71sINFOforward_stereo_publisher.py-6process started with pid [7670] ×2 + 4.71sINFOlidar_flattener.py-7process started with pid [7671] ×2 + 4.71sINFOstatic_transform_publisher-8process started with pid [7672] ×2 + 4.71sINFOstatic_transform_publisher-9process started with pid [7673] ×2 + 4.71sINFOscan_to_scan_filter_chain-10process started with pid [7755] ×2 + 4.71sINFOscan_to_scan_filter_chain-11process started with pid [7756] ×2 + 4.71sINFOros2-13process started with pid [7758] ×2 + 4.71sINFOros2-14process started with pid [7759] ×2 + 4.71sINFOros2-15process started with pid [7760] ×2 + 4.71sINFOros2-16process started with pid [7761] ×2 + 4.71sINFOros2-17process started with pid [7762] ×2 + 4.71sINFOros2-18process started with pid [7763] ×2 + 4.71sINFOros2-19process started with pid [7764] ×2 + 4.71sINFOros2-20process started with pid [7767] ×2 + 4.71sINFOros2-21process started with pid [7770] ×2 + 4.71sINFOros2-22process started with pid [7771] ×2 + 4.71sINFOros2-23process started with pid [7772] ×2 + 4.72sINFOcontroller_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. + 4.80sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.80sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.80sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.80sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.81sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.81sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.81sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.81sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.81sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.81sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.81sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.81sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.81sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.81sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.81sWARNros2_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 + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.687847 ms (missed cycles : 6).[0m ×2 + 4.81sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.81sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.83sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.83sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.85sINFOcontroller_serverCreating controller server + 4.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.90sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.93sINFOmap_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. + 4.93sINFOmap_serverCreating + 4.94sINFOlocal_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. + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.96sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.97sINFOlocal_costmap.local_costmapCreating Costmap + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.99sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.99sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.04sINFOrobot_state_publisherRobot initialized + 5.04sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.04sINFOcontroller_managerReceived robot description from topic. + 5.04sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.05sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.05sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.06sINFOsmoother_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. + 5.06sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.06sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.06sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.06sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.08sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.08sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.08sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.08sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.09sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.09sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.09sINFOsmoother_serverCreating smoother server + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.12sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.12sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.16sINFOplanner_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. + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.20sINFOplanner_serverCreating + 5.20sINFOlifecycle_manager_localizationCreating + 5.20sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.21sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.22sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.24sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.24sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.25sINFOglobal_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. + 5.25sINFOmap_serverConfiguring + 5.25sINFOvideo_server2026/09/15 13:43:40 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.25sINFOvideo_server2026/09/15 13:43:40 INF configuration loaded from /tmp/moveit-webrtc-2d0vgs14/mediamtx.yml ×2 + 5.26sINFOvideo_server2026/09/15 13:43:40 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.26sINFOvideo_server2026/09/15 13:43:40 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.26sINFOglobal_costmap.global_costmapCreating Costmap + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.33sINFObehavior_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. + 5.35sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.35sINFOamclConfiguring + 5.36sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.36sINFOmap_serverActivating + 5.36sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.38sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.390785 seconds + 5.38sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.38sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.38sINFOmove_groupLoaded robot model in 0.390785 seconds[0m ×2 + 5.38sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.38sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.47sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.47sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.47sINFOamclActivating + 5.47sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.47sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.49sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.49sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.50sWARNlaser_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. + 5.50sINFOamclSubscribed to map_topic: /map + 5.51sINFOamclSubscribed to scan_topic: /scan_merged + 5.51sINFOamclCreated reinitialize_global_localization service + 5.51sINFOamclCreated request_nomotion_update service + 5.52sINFOamclA new map was received + 5.52sINFOamclInitializing particle filter instance + 5.52sINFObt_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. + 5.54sINFObt_navigatorCreating + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.58sINFOwaypoint_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. + 5.58sINFOwaypoint_followerCreating + 5.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.65sINFOvelocity_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. + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.70sINFOlifecycle_manager_navigationCreating + 5.72sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.75sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.75sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.75sINFOcontroller_serverConfiguring controller interface + 5.75sINFOcontroller_servergetting progress checker plugins.. + 5.75sINFOcontroller_servergetting goal checker plugins.. + 5.75sINFOcontroller_serverController frequency set to 20.0000Hz + 5.75sINFOlocal_costmap.local_costmapConfiguring + 5.76sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.78sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.88sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.88sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.89sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853658 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853658 ms (missed cycles : 2).[0m ×2 + 5.94sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.94sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.95sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.96sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.96sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.99sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.99sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.00sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.00sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.01sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.01sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.01sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.01sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.01sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.01sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.01sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.02sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.02sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.02sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.02sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.02sINFOcontroller_serverOptimizer reset ×2 + 6.03sINFOcontroller_serverController Server has FollowPath controllers available. + 6.05sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.05sINFOsmoother_serverConfiguring smoother server + 6.07sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.07sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.09sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.09sINFOplanner_serverConfiguring + 6.09sINFOglobal_costmap.global_costmapConfiguring + 6.09sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.09sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.10sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.10sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.10sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.10sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.10sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.11sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.11sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.12sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.17sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.18sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.18sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.19sINFOplanner_serverPlanner Server has GridBased planners available. + 6.22sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.22sINFObehavior_serverConfiguring + 6.23sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.24sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.25sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.26sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.26sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.27sINFObehavior_serverConfiguring spin + 6.29sINFObehavior_serverConfiguring backup + 6.30sINFObehavior_serverConfiguring drive_on_heading + 6.31sINFObehavior_serverConfiguring assisted_teleop + 6.32sINFObehavior_serverConfiguring wait + 6.33sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.33sINFObt_navigatorConfiguring + 6.34sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.35sWARNbt_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 + 6.36sINFOwaypoint_manager_nodeLoaded robot model in 0.233927 seconds[0m ×2 + 6.36sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.36sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.41sINFOamclParticle filter initialization completed + 6.41sINFOamclInitializing particles from estimated pose and covariance + 6.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.41sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.42sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.42sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.42sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.48sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.48sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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 + 6.50sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.54sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.54sINFOwaypoint_followerConfiguring + 6.57sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.57sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.57sINFOvelocity_smootherConfiguring velocity smoother + 6.58sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.58sINFOcontroller_serverActivating + 6.58sINFOlocal_costmap.local_costmapActivating + 6.58sINFOlocal_costmap.local_costmapChecking transform + 6.58sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 + 6.72sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.72sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.72sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.72sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.75sINFOros2_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 + 6.75sINFOros2_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 + 6.80sINFOmove_group[2026-09-15 13:43:42.319] [moveit_pro_license] [info] ×2 + 6.80sINFOmove_group************************************************* ×4 + 6.80sINFOmove_group* MoveIt Pro License ×2 + 6.80sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.88sWARNwaypoint_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. + 6.88sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.25sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.25sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.25sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.25sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.25sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.25sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.25sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.26sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.26sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.26sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.26sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.26sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.27sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.27sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.28sINFOwaypoint_manager_node[2026-09-15 13:43:42.795] [moveit_pro_license] [info] ×2 + 7.28sINFOwaypoint_manager_node************************************************* ×4 + 7.28sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.28sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770881 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770881 ms (missed cycles : 2).[0m ×2 + 7.60sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.60sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.60sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.60sWARNros2_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 + 7.60sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.60sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.60sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.60sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.60sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.60sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.60sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.60sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.60sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.60sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.60sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.60sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.60sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.60sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.60sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.60sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.60sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.60sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.60sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.60sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.60sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.60sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.60sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.60sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.60sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.60sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.60sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.60sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.60sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.60sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.60sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.65sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.65sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.66sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.86sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.86sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.86sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.86sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.86sINFOros2_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 + 7.86sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.86sWARNros2_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 + 7.87sINFOobjective_server_node[2026-09-15 13:43:43.392] [moveit_pro_license] [info] ×2 + 7.87sINFOobjective_server_node************************************************* ×4 + 7.87sINFOobjective_server_node* MoveIt Pro License ×2 + 7.87sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.95sINFOobjective_server_nodeLoaded robot model in 0.0383376 seconds[0m ×2 + 7.95sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.95sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.99sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 8.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 8.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.04sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.05sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.05sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.05sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.05sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.06sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' + 8.06sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×2 + 8.06sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.06sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.06sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.06sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.06sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.06sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.06sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.06sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.06sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.07sINFOcomponent_container_mtStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.07sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.19sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.21sWARNcomponent_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 + 8.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.29sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.29sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.31sINFOstreaming_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) + 8.31sINFOcomponent_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 + 8.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.31sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.49sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.49sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865178 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865178 ms (missed cycles : 2).[0m ×2 + 8.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.53sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.53sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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. + 8.53sWARNobjective_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. + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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 + 8.54sWARNobjective_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. + 8.54sWARNobjective_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 + 8.54sWARNobjective_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 + 8.54sWARNobjective_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. + 8.54sWARNobjective_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 + 8.54sWARNobjective_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 + 8.54sWARNobjective_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 + 8.59sINFOros2_control_node[2026-09-15 13:43:44.110] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.59sINFOros2_control_node[2026-09-15 13:43:44.113] [info] Controller state will be published at 10 Hz. ×2 + 8.60sINFOros2_control_node[2026-09-15 13:43:44.114] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.60sINFOobjective_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 + 8.60sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.63sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.64sINFOcomponent_container_mtLoaded robot model in 0.432094 seconds[0m ×2 + 8.64sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.64sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.67sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.67sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.96sINFOros2-20process has finished cleanly [pid 7767] ×2 + 8.98sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 8.98sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 9.03sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.03sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.10sINFOmove_groupMoveGroup debug mode is ON + 9.10sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.10sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.14sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.14sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.14sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.15sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.19sWARNcomponent_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 + 9.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.26sINFOmove_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 ****************************************************** + 9.26sINFOmove_group ×8 + 9.26sINFOmove_group****************************************************** ×4 + 9.26sINFOmove_group* MoveGroup using: ×2 + 9.26sINFOmove_group* - apply_planning_scene_service ×2 + 9.26sINFOmove_group* - clear_octomap_service ×2 + 9.26sINFOmove_group* - get_group_urdf ×2 + 9.26sINFOmove_group* - load_geometry_from_file ×2 + 9.26sINFOmove_group* - get_planning_scene_service ×2 + 9.26sINFOmove_group* - kinematics_service ×2 + 9.26sINFOmove_group* - save_geometry_to_file ×2 + 9.26sINFOmove_group* - GetPlanningGroups ×2 + 9.26sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.26sINFOmove_group[0m ×2 + 9.26sINFOmove_group[92mYou can start planning now![0m ×2 + 9.41sINFOcomponent_container_mt[2026-09-15 13:43:44.929] [moveit_pro_license] [info] ×2 + 9.41sINFOcomponent_container_mt************************************************* ×4 + 9.41sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.41sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.50sINFOros2_control_node[2026-09-15 13:43:45.018] [info] Controller state will be published at 20 Hz. ×2 + 9.50sINFOros2_control_node[2026-09-15 13:43:45.019] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061643 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061643 ms (missed cycles : 2).[0m ×2 + 9.74sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.74sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.77sWARNros2_control_nodeCamera render tick took 0.97 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.80sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.80sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.80sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.80sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.83sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 9.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.83sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 9.88sINFOros2-23process has finished cleanly [pid 7772] ×2 + 9.89sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.89sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.38sINFOros2_control_node[2026-09-15 13:43:45.899] [info] Controller state will be published at 20 Hz. ×2 + 10.38sINFOros2_control_node[2026-09-15 13:43:45.900] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442158 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442158 ms (missed cycles : 2).[0m ×2 + 10.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.70sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 10.70sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 10.74sINFOros2-22process has finished cleanly [pid 7771] ×2 + 10.77sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.77sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.77sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.78sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.78sINFOplatform_velocity_controllerconfigure successful + 10.78sINFOros2_control_nodeconfigure successful[0m ×6 + 10.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.79sINFOcontroller_managerSuccessfully switched controllers! ×20 + 10.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 10.79sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.79sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.81sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789479824.324 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.09sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.09sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.09sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 11.09sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 11.14sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.15sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.15sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.15sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.15sINFOros2-16process has finished cleanly [pid 7761] ×2 + 11.15sINFOforce_torque_sensor_broadcasterconfigure successful + 11.15sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.16sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.16sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.16sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.19sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 11.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.47sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.47sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.47sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.47sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 11.47sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.47sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 11.50sINFOros2-13process has finished cleanly [pid 7758] ×2 + 11.52sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.52sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690435 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690435 ms (missed cycles : 3).[0m ×2 + 11.92sINFOros2_control_node[2026-09-15 13:43:47.437] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.92sINFOros2_control_node[2026-09-15 13:43:47.439] [info] Controller state will be published at 10 Hz. ×2 + 11.92sINFOros2_control_node[2026-09-15 13:43:47.440] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.25sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 12.25sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 12.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 12.25sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 12.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 12.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 12.27sINFOros2-21process has finished cleanly [pid 7770] ×2 + 12.34sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 12.34sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 12.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 12.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 12.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 12.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 12.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 12.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 12.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 12.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 12.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 12.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 12.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 12.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 12.35sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 12.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 12.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 12.68sINFOros2-19process has finished cleanly [pid 7764] ×2 + 12.69sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.69sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.69sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.69sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.70sINFOplatform_velocity_controller_nav2configure successful + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319694 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319694 ms (missed cycles : 2).[0m ×2 + 13.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 13.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 13.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 13.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 13.03sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 13.03sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 13.04sINFOros2-18process has finished cleanly [pid 7763] ×2 + 13.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 13.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 13.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 13.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 13.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 13.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 13.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 13.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 13.10sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 13.10sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 13.42sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 13.42sINFOcontroller_managerLoading controller 'vacuum_gripper' + 13.42sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 13.42sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 13.42sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 13.42sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 13.44sINFOros2-15process has finished cleanly [pid 7760] ×2 + 13.44sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 13.44sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 13.47sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 13.47sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 13.47sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 13.47sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 13.47sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 13.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 13.47sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 13.47sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 13.48sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 13.48sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 13.58sINFOlocal_costmap.local_costmapstart + 13.68sWARNcontroller_serverParameter controller_server.verbose not found + 13.68sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.79sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.79sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.79sINFOsmoother_serverActivating + 13.79sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.80sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 13.80sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 13.80sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 13.80sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 13.80sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk + 13.80sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gx3f51cx --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_yy99m3i8 --params-file /tmp/launch_params__3ypx8bk [0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090289 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090289 ms (missed cycles : 2).[0m ×2 + 13.83sINFOros2-17process has finished cleanly [pid 7762] ×2 + 13.85sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 13.85sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 13.85sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 13.85sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 13.86sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 13.86sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 13.86sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 13.86sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 13.90sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.90sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.90sINFOplanner_serverActivating + 13.90sINFOglobal_costmap.global_costmapActivating + 13.90sINFOglobal_costmap.global_costmapChecking transform + 13.90sINFOglobal_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. + 13.91sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789479827.777 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 14.10sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 14.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.10sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 14.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 14.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 14.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.11sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 14.11sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 14.12sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 14.12sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 14.14sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 7.274ms + 14.20sINFOros2-14process has finished cleanly [pid 7759] ×2 + 14.40sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789479829.890514, but only time 1789479830.046173 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832446 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832446 ms (missed cycles : 2).[0m ×2 + 14.90sINFOglobal_costmap.global_costmapstart + 15.20sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 15.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655847 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655847 ms (missed cycles : 3).[0m ×2 + 15.95sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.95sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 16.05sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 16.05sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 16.06sINFObehavior_serverActivating + 16.06sINFObehavior_serverActivating spin + 16.06sINFObehavior_serverActivating backup + 16.06sINFObehavior_serverActivating drive_on_heading + 16.06sINFObehavior_serverActivating assisted_teleop + 16.06sINFObehavior_serverActivating wait + 16.06sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 16.16sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 16.16sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 16.16sINFObt_navigatorActivating + 16.22sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 16.32sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 16.32sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 16.32sINFOwaypoint_followerActivating + 16.32sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 16.43sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.43sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.43sINFOvelocity_smootherActivating + 16.43sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.53sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.53sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.53sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 17.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 19.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.24sINFOobjective_server_nodecaller: ×10 + 19.24sINFOobjective_server_nodetype: 0 ×10 + 19.24sINFOobjective_server_nodename: "" ×10 + 19.24sINFOobjective_server_nodeinstance_id: "" ×10 + 19.24sINFOobjective_server_node ×10 + 19.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 19.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 19.28sINFOmove_groupClearing octomap...[0m ×4 + 19.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 19.28sINFOmove_groupOctomap cleared.[0m ×4 + 19.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 19.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 19.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 20.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 20.81sWARNros2_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 + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 21.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 21.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 21.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 21.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 21.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 21.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.4s	3 errors · 292 warnings · 252 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510693 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510693 ms (missed cycles : 3).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.565ms + 0.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.070ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038760 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038760 ms (missed cycles : 2).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.684ms + 1.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.559ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753040 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753040 ms (missed cycles : 3).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.585ms + 2.98sINFOobjective_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 + 2.99sINFOjoint_trajectory_controllerGot request to cancel goal + 2.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.99sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.00sERRORobjective_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: 1789480046.66139913 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-0.45, 2.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 2.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093965 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093965 ms (missed cycles : 2).[0m ×2 + 3.18sWARNros2_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 ×10 + 3.20sWARNros2_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 + 3.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.272ms + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789480047.25010371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.924ms + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098631 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098631 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017588 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017588 ms (missed cycles : 3).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791270 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791270 ms (missed cycles : 3).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.27sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.27sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524042 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524042 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828870 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828870 ms (missed cycles : 3).[0m ×2 + 8.36sWARNros2_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 + 8.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.961ms + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494844 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494844 ms (missed cycles : 2).[0m ×2 + 9.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.683ms + 10.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.503ms + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482459 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482459 ms (missed cycles : 2).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.879ms + 11.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.682ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586007 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586007 ms (missed cycles : 3).[0m ×2 + 11.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.909ms + 12.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.997ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480252 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480252 ms (missed cycles : 3).[0m ×2 + 13.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.802ms + 13.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 13.62sINFOamclParticle filter update iteration stats: 4177 particles 723 points - 11.745ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483477 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483477 ms (missed cycles : 3).[0m ×2 + 14.23sINFOamclParticle filter update iteration stats: 3378 particles 723 points - 5.913ms + 14.84sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 4.577ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726485 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726485 ms (missed cycles : 3).[0m ×2 + 15.46sINFOamclParticle filter update iteration stats: 1703 particles 723 points - 3.446ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972351 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972351 ms (missed cycles : 3).[0m ×2 + 16.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.776ms + 16.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978404 ms (missed cycles : 3). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978404 ms (missed cycles : 3).[0m ×2 + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms ×2 + 17.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813165 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813165 ms (missed cycles : 2).[0m ×2 + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 19.13sWARNros2_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 + 19.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483378 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483378 ms (missed cycles : 3).[0m ×2 + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080736 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080736 ms (missed cycles : 2).[0m ×2 + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905021 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905021 ms (missed cycles : 2).[0m ×2 + 21.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784095 ms (missed cycles : 3). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784095 ms (missed cycles : 3).[0m ×2 + 22.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181869 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181869 ms (missed cycles : 2).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 24.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432413 ms (missed cycles : 2). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432413 ms (missed cycles : 2).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.439580 ms (missed cycles : 4). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.439580 ms (missed cycles : 4).[0m ×2 + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495266 ms (missed cycles : 3). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495266 ms (missed cycles : 3).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509278 ms (missed cycles : 3). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509278 ms (missed cycles : 3).[0m ×2 + 27.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.533ms + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434774 ms (missed cycles : 3). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434774 ms (missed cycles : 3).[0m ×2 + 29.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 29.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658008 ms (missed cycles : 3). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658008 ms (missed cycles : 3).[0m ×2 + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262460 ms (missed cycles : 2). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262460 ms (missed cycles : 2).[0m ×2 + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 31.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532057 ms (missed cycles : 4). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532057 ms (missed cycles : 4).[0m ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626859 ms (missed cycles : 2). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626859 ms (missed cycles : 2).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 33.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378174 ms (missed cycles : 4). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378174 ms (missed cycles : 4).[0m ×2 + 34.64sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.64sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.862ms + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987720 ms (missed cycles : 3). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987720 ms (missed cycles : 3).[0m ×2 + 34.99sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089486 ms (missed cycles : 4). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089486 ms (missed cycles : 4).[0m ×2 + 36.05sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 36.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788728 ms (missed cycles : 3). + 36.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788728 ms (missed cycles : 3).[0m ×2 + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124853 ms (missed cycles : 3). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124853 ms (missed cycles : 3).[0m ×2 + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392736 ms (missed cycles : 3). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392736 ms (missed cycles : 3).[0m ×2 + 39.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 39.92sWARNros2_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 + 39.95sWARNros2_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 + 39.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290544 ms (missed cycles : 2). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290544 ms (missed cycles : 2).[0m ×2 + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.754ms + 41.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699878 ms (missed cycles : 2). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699878 ms (missed cycles : 2).[0m ×2 + 42.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.811ms + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014920 ms (missed cycles : 3). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014920 ms (missed cycles : 3).[0m ×2 + 43.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302406 ms (missed cycles : 3). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302406 ms (missed cycles : 3).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976687 ms (missed cycles : 4). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976687 ms (missed cycles : 4).[0m ×2 + 44.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 45.44sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 45.46sWARNros2_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 + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940806 ms (missed cycles : 5). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940806 ms (missed cycles : 5).[0m ×2 + 46.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856893 ms (missed cycles : 5). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856893 ms (missed cycles : 5).[0m ×2 + 47.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 48.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743991 ms (missed cycles : 3). + 48.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743991 ms (missed cycles : 3).[0m ×2 + 49.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220355 ms (missed cycles : 3). + 49.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220355 ms (missed cycles : 3).[0m ×2 + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 49.71sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 50.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114474 ms (missed cycles : 3). + 50.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114474 ms (missed cycles : 3).[0m ×2 + 51.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922316 ms (missed cycles : 4). + 51.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922316 ms (missed cycles : 4).[0m ×2 + 52.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385497 ms (missed cycles : 3). + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385497 ms (missed cycles : 3).[0m ×2 + 53.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268663 ms (missed cycles : 3). + 53.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268663 ms (missed cycles : 3).[0m ×2 + 54.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455945 ms (missed cycles : 3). + 54.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455945 ms (missed cycles : 3).[0m ×2 + 54.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 55.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms ×2 + 55.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185655 ms (missed cycles : 2). + 55.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185655 ms (missed cycles : 2).[0m ×2 + 56.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.168ms + 56.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313608 ms (missed cycles : 3). + 56.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313608 ms (missed cycles : 3).[0m ×2 + 58.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173861 ms (missed cycles : 3). + 58.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173861 ms (missed cycles : 3).[0m ×2 + 58.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 59.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262413 ms (missed cycles : 2). + 59.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262413 ms (missed cycles : 2).[0m ×2 + 59.09sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 60.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822968 ms (missed cycles : 3). + 60.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822968 ms (missed cycles : 3).[0m ×2 + 61.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878515 ms (missed cycles : 3). + 61.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878515 ms (missed cycles : 3).[0m ×2 + 62.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051278 ms (missed cycles : 3). + 62.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051278 ms (missed cycles : 3).[0m ×2 + 63.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961000 ms (missed cycles : 2). + 63.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961000 ms (missed cycles : 2).[0m ×2 + 63.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 64.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948727 ms (missed cycles : 2). + 64.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948727 ms (missed cycles : 2).[0m ×2 + 65.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 65.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744230 ms (missed cycles : 3). + 65.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744230 ms (missed cycles : 3).[0m ×2 + 66.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778159 ms (missed cycles : 2). + 66.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778159 ms (missed cycles : 2).[0m ×2 + 66.70sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 66.72sWARNros2_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 + 67.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 67.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365930 ms (missed cycles : 3). + 67.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365930 ms (missed cycles : 3).[0m ×2 + 68.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789480112.06028175 seconds ×3 + 68.44sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.44sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760335 ms (missed cycles : 5). + 68.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760335 ms (missed cycles : 5).[0m ×2 + 68.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 68.64sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.64sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.94sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789480112.64193916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.183ms + 69.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913937 ms (missed cycles : 2). + 69.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913937 ms (missed cycles : 2).[0m ×2 + 70.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122579 ms (missed cycles : 2). + 70.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122579 ms (missed cycles : 2).[0m ×2 + 71.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2). + 71.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	248 warnings · 206 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3).[0m ×2 + 0.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373998 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373998 ms (missed cycles : 3).[0m ×2 + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.400ms + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980309 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980309 ms (missed cycles : 3).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.66sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789479886.49498963 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748174 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748174 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789479887.08169556 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.35sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 2.930ms + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341838 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341838 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048898 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048898 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.92sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806883 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806883 ms (missed cycles : 3).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734418 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734418 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314250 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314250 ms (missed cycles : 2).[0m ×2 + 8.46sWARNros2_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 + 8.48sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 3.648ms + 9.03sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 3.008ms + 9.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679022 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679022 ms (missed cycles : 3).[0m ×2 + 9.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.440ms + 10.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.213ms + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815919 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815919 ms (missed cycles : 3).[0m ×2 + 10.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519952 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519952 ms (missed cycles : 2).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms ×2 + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646079 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646079 ms (missed cycles : 3).[0m ×2 + 13.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 13.63sWARNros2_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 ×2 + 13.66sWARNros2_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 + 13.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926842 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926842 ms (missed cycles : 2).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419233 ms (missed cycles : 3). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419233 ms (missed cycles : 3).[0m ×2 + 14.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105404 ms (missed cycles : 4). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105404 ms (missed cycles : 4).[0m ×2 + 16.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817427 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817427 ms (missed cycles : 3).[0m ×2 + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 17.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094163 ms (missed cycles : 3). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094163 ms (missed cycles : 3).[0m ×2 + 18.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 19.02sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 19.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134730 ms (missed cycles : 3). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134730 ms (missed cycles : 3).[0m ×2 + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685043 ms (missed cycles : 5). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685043 ms (missed cycles : 5).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383960 ms (missed cycles : 5). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383960 ms (missed cycles : 5).[0m ×2 + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072676 ms (missed cycles : 2). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072676 ms (missed cycles : 2).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519888 ms (missed cycles : 4). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519888 ms (missed cycles : 4).[0m ×2 + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323322 ms (missed cycles : 3). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323322 ms (missed cycles : 3).[0m ×2 + 24.53sWARNros2_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 + 24.55sWARNros2_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 + 24.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 25.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976582 ms (missed cycles : 2). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976582 ms (missed cycles : 2).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436623 ms (missed cycles : 2). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436623 ms (missed cycles : 2).[0m ×2 + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 27.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.911ms + 27.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080280 ms (missed cycles : 2). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080280 ms (missed cycles : 2).[0m ×2 + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626947 ms (missed cycles : 3). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626947 ms (missed cycles : 3).[0m ×2 + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356943 ms (missed cycles : 2). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356943 ms (missed cycles : 2).[0m ×2 + 30.11sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 30.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.604ms + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559734 ms (missed cycles : 3). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559734 ms (missed cycles : 3).[0m ×2 + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 31.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.990ms + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516370 ms (missed cycles : 3). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516370 ms (missed cycles : 3).[0m ×2 + 32.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 33.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.090ms + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963805 ms (missed cycles : 3). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963805 ms (missed cycles : 3).[0m ×2 + 34.34sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003859 ms (missed cycles : 3). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003859 ms (missed cycles : 3).[0m ×2 + 34.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 35.13sWARNros2_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 + 35.15sWARNros2_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 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986924 ms (missed cycles : 3). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986924 ms (missed cycles : 3).[0m ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190758 ms (missed cycles : 3). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190758 ms (missed cycles : 3).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755947 ms (missed cycles : 4). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755947 ms (missed cycles : 4).[0m ×2 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213461 ms (missed cycles : 3). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213461 ms (missed cycles : 3).[0m ×2 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233272 ms (missed cycles : 3). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233272 ms (missed cycles : 3).[0m ×2 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135132 ms (missed cycles : 2). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135132 ms (missed cycles : 2).[0m ×2 + 40.72sWARNros2_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 + 41.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195913 ms (missed cycles : 2). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195913 ms (missed cycles : 2).[0m ×2 + 42.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541075 ms (missed cycles : 4). + 42.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541075 ms (missed cycles : 4).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349382 ms (missed cycles : 3). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349382 ms (missed cycles : 3).[0m ×2 + 44.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391787 ms (missed cycles : 2). + 44.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391787 ms (missed cycles : 2).[0m ×2 + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300851 ms (missed cycles : 2). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300851 ms (missed cycles : 2).[0m ×2 + 46.19sWARNros2_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 ×4 + 46.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589293 ms (missed cycles : 5). + 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589293 ms (missed cycles : 5).[0m ×2 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876873 ms (missed cycles : 4). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876873 ms (missed cycles : 4).[0m ×2 + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729819 ms (missed cycles : 3). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729819 ms (missed cycles : 3).[0m ×2 + 49.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584334 ms (missed cycles : 3). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584334 ms (missed cycles : 3).[0m ×2 + 51.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072280 ms (missed cycles : 2). + 51.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072280 ms (missed cycles : 2).[0m ×2 + 51.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.133ms + 52.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828968 ms (missed cycles : 3). + 52.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828968 ms (missed cycles : 3).[0m ×2 + 53.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533353 ms (missed cycles : 3). + 53.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533353 ms (missed cycles : 3).[0m ×2 + 54.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833361 ms (missed cycles : 3). + 54.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833361 ms (missed cycles : 3).[0m ×2 + 55.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048637 ms (missed cycles : 2). + 55.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048637 ms (missed cycles : 2).[0m ×2 + 55.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms ×2 + 56.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894522 ms (missed cycles : 2). + 56.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894522 ms (missed cycles : 2).[0m ×2 + 57.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2). + 57.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2).[0m ×2 + 58.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3).[0m ×2 + 59.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3). + 59.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3).[0m ×2 + 60.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789479943.83182979 seconds ×3 + 60.09sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.09sWARNlocal_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 + 60.49sWARNlocal_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 + 60.49sWARNlocal_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 + 60.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.58sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3). + 60.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3).[0m ×2 + 60.61sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789479944.42468977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.00sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 61.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.453ms + 61.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2). + 61.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2).[0m ×2 + 62.76sWARNros2_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 + 62.78sWARNros2_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 + 62.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3). + 62.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	257 warnings · 201 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_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 + 0.18sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.99sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789480118.56208134 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789480119.14542794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.49sWARNros2_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 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3).[0m ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865691 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865691 ms (missed cycles : 3).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719844 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719844 ms (missed cycles : 3).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.394ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247633 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247633 ms (missed cycles : 2).[0m ×2 + 9.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.686ms + 10.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.583ms + 10.64sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.66sWARNros2_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 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.642ms + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940260 ms (missed cycles : 3). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940260 ms (missed cycles : 3).[0m ×2 + 11.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.153ms + 11.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.535ms + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837691 ms (missed cycles : 5). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837691 ms (missed cycles : 5).[0m ×2 + 12.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.684ms + 13.09sINFOamclParticle filter update iteration stats: 4549 particles 723 points - 7.734ms + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483871 ms (missed cycles : 3). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483871 ms (missed cycles : 3).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 5.631ms + 14.30sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.807ms + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276038 ms (missed cycles : 3). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276038 ms (missed cycles : 3).[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.188ms + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794490 ms (missed cycles : 3). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794490 ms (missed cycles : 3).[0m ×2 + 15.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.986ms + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118170 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118170 ms (missed cycles : 2).[0m ×2 + 16.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596396 ms (missed cycles : 3). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596396 ms (missed cycles : 3).[0m ×2 + 17.65sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552690 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552690 ms (missed cycles : 2).[0m ×2 + 19.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 19.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843679 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843679 ms (missed cycles : 3).[0m ×2 + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930449 ms (missed cycles : 3). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930449 ms (missed cycles : 3).[0m ×2 + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.262ms + 21.57sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 21.59sWARNros2_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 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613424 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613424 ms (missed cycles : 2).[0m ×2 + 22.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469901 ms (missed cycles : 3). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469901 ms (missed cycles : 3).[0m ×2 + 23.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448330 ms (missed cycles : 5). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448330 ms (missed cycles : 5).[0m ×2 + 24.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187012 ms (missed cycles : 3). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187012 ms (missed cycles : 3).[0m ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971142 ms (missed cycles : 2). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971142 ms (missed cycles : 2).[0m ×2 + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 27.11sWARNros2_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 ×6 + 27.13sWARNros2_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 ×6 + 27.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.006ms + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207292 ms (missed cycles : 5). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207292 ms (missed cycles : 5).[0m ×2 + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 28.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672652 ms (missed cycles : 2). + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672652 ms (missed cycles : 2).[0m ×2 + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016179 ms (missed cycles : 4). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016179 ms (missed cycles : 4).[0m ×2 + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.320ms + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683583 ms (missed cycles : 5). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683583 ms (missed cycles : 5).[0m ×2 + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 31.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415217 ms (missed cycles : 3). + 31.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415217 ms (missed cycles : 3).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 32.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961656 ms (missed cycles : 3). + 32.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961656 ms (missed cycles : 3).[0m ×2 + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.349ms + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124120 ms (missed cycles : 5). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124120 ms (missed cycles : 5).[0m ×2 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550237 ms (missed cycles : 3). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550237 ms (missed cycles : 3).[0m ×2 + 34.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 34.78sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271861 ms (missed cycles : 3). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271861 ms (missed cycles : 3).[0m ×2 + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676639 ms (missed cycles : 2). + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676639 ms (missed cycles : 2).[0m ×2 + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858689 ms (missed cycles : 2). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858689 ms (missed cycles : 2).[0m ×2 + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163824 ms (missed cycles : 2). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163824 ms (missed cycles : 2).[0m ×2 + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517155 ms (missed cycles : 3). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517155 ms (missed cycles : 3).[0m ×2 + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051435 ms (missed cycles : 3). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051435 ms (missed cycles : 3).[0m ×2 + 41.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 41.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630888 ms (missed cycles : 2). + 41.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630888 ms (missed cycles : 2).[0m ×2 + 42.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147061 ms (missed cycles : 3). + 42.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147061 ms (missed cycles : 3).[0m ×2 + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862639 ms (missed cycles : 2). + 43.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862639 ms (missed cycles : 2).[0m ×2 + 45.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477876 ms (missed cycles : 4). + 45.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477876 ms (missed cycles : 4).[0m ×2 + 46.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485400 ms (missed cycles : 4). + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485400 ms (missed cycles : 4).[0m ×2 + 47.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928144 ms (missed cycles : 3). + 47.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928144 ms (missed cycles : 3).[0m ×2 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638789 ms (missed cycles : 2). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638789 ms (missed cycles : 2).[0m ×2 + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027143 ms (missed cycles : 4). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027143 ms (missed cycles : 4).[0m ×2 + 49.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 50.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006221 ms (missed cycles : 2). + 50.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006221 ms (missed cycles : 2).[0m ×2 + 51.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963587 ms (missed cycles : 4). + 51.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963587 ms (missed cycles : 4).[0m ×2 + 52.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 52.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860462 ms (missed cycles : 4). + 52.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860462 ms (missed cycles : 4).[0m ×2 + 53.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934448 ms (missed cycles : 4). + 53.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934448 ms (missed cycles : 4).[0m ×2 + 54.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281369 ms (missed cycles : 2). + 54.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281369 ms (missed cycles : 2).[0m ×2 + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575548 ms (missed cycles : 3). + 55.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575548 ms (missed cycles : 3).[0m ×2 + 56.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.885ms + 56.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725029 ms (missed cycles : 3). + 56.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725029 ms (missed cycles : 3).[0m ×2 + 57.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752113 ms (missed cycles : 4). + 57.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752113 ms (missed cycles : 4).[0m ×2 + 58.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772963 ms (missed cycles : 2). + 58.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772963 ms (missed cycles : 2).[0m ×2 + 59.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842452 ms (missed cycles : 2). + 59.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842452 ms (missed cycles : 2).[0m ×2 + 60.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789480175.89555836 seconds ×3 + 60.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 60.48sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.48sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044424 ms (missed cycles : 2). + 60.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044424 ms (missed cycles : 2).[0m ×2 + 60.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.93sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789480176.49580550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.98sWARNlocal_costmap.local_costmapSensor origin at (-0.38, 2.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.98sWARNlocal_costmap.local_costmapSensor origin at (-1.28, 2.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 61.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.804ms + 61.34sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 61.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.003ms + 61.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091746 ms (missed cycles : 3). + 61.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091746 ms (missed cycles : 3).[0m ×2 + 61.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146326 ms (missed cycles : 3). + 62.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146326 ms (missed cycles : 3).[0m ×2 + 63.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329406 ms (missed cycles : 2). + 63.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329406 ms (missed cycles : 2).[0m ×2 + 63.81sWARNros2_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 + 63.83sWARNros2_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
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.5s	247 warnings · 217 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516080 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516080 ms (missed cycles : 6).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869108 ms (missed cycles : 2).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005088 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005088 ms (missed cycles : 2).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789479983.13072419 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750573 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750573 ms (missed cycles : 3).[0m ×2 + 3.40sWARNros2_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 ×8 + 3.42sWARNros2_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 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789479983.71619129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.283ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792288 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792288 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222060 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222060 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 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 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304393 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304393 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144421 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144421 ms (missed cycles : 2).[0m ×2 + 8.65sWARNros2_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 + 8.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.694ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431089 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431089 ms (missed cycles : 2).[0m ×2 + 9.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.749ms + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211499 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211499 ms (missed cycles : 2).[0m ×2 + 9.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.604ms + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.316ms + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277383 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277383 ms (missed cycles : 2).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 11.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.504ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703708 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703708 ms (missed cycles : 2).[0m ×2 + 12.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.476ms + 12.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.855ms + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766307 ms (missed cycles : 4). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766307 ms (missed cycles : 4).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.934ms + 13.98sWARNros2_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 + 14.00sWARNros2_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 + 14.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.625ms + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924206 ms (missed cycles : 2). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924206 ms (missed cycles : 2).[0m ×2 + 14.61sINFOamclParticle filter update iteration stats: 4931 particles 723 points - 7.813ms + 15.20sINFOamclParticle filter update iteration stats: 4301 particles 723 points - 7.980ms + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827827 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827827 ms (missed cycles : 3).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 3648 particles 723 points - 6.848ms + 16.44sINFOamclParticle filter update iteration stats: 2711 particles 723 points - 5.809ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269682 ms (missed cycles : 3). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269682 ms (missed cycles : 3).[0m ×2 + 17.11sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 4.344ms + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704488 ms (missed cycles : 2). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704488 ms (missed cycles : 2).[0m ×2 + 17.72sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.083ms + 18.32sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.724ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698862 ms (missed cycles : 3). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698862 ms (missed cycles : 3).[0m ×2 + 18.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 19.53sWARNros2_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 ×6 + 19.56sWARNros2_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 + 19.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824316 ms (missed cycles : 2). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824316 ms (missed cycles : 2).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.234227 ms (missed cycles : 6). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.234227 ms (missed cycles : 6).[0m ×2 + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 21.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.382ms + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576377 ms (missed cycles : 3). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576377 ms (missed cycles : 3).[0m ×2 + 22.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 22.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365607 ms (missed cycles : 3). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365607 ms (missed cycles : 3).[0m ×2 + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.023ms + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152726 ms (missed cycles : 3). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152726 ms (missed cycles : 3).[0m ×2 + 24.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112996 ms (missed cycles : 2). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112996 ms (missed cycles : 2).[0m ×2 + 25.09sWARNros2_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 + 25.11sWARNros2_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 + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.985ms + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.079907 ms (missed cycles : 5). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.079907 ms (missed cycles : 5).[0m ×2 + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219018 ms (missed cycles : 2). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219018 ms (missed cycles : 2).[0m ×2 + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.531ms + 28.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918218 ms (missed cycles : 2). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918218 ms (missed cycles : 2).[0m ×2 + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000284 ms (missed cycles : 3). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000284 ms (missed cycles : 3).[0m ×2 + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 30.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 30.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052035 ms (missed cycles : 3). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052035 ms (missed cycles : 3).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849733 ms (missed cycles : 2). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849733 ms (missed cycles : 2).[0m ×2 + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.619ms + 32.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.301ms + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056340 ms (missed cycles : 2). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056340 ms (missed cycles : 2).[0m ×2 + 33.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.670ms + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072932 ms (missed cycles : 5). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072932 ms (missed cycles : 5).[0m ×2 + 34.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.658ms + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759092 ms (missed cycles : 2). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759092 ms (missed cycles : 2).[0m ×2 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224603 ms (missed cycles : 4). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224603 ms (missed cycles : 4).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777856 ms (missed cycles : 3). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777856 ms (missed cycles : 3).[0m ×2 + 38.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438792 ms (missed cycles : 3). + 38.03sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438792 ms (missed cycles : 3).[0m ×2 + 38.87sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558014 ms (missed cycles : 5). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558014 ms (missed cycles : 5).[0m ×2 + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964993 ms (missed cycles : 3). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964993 ms (missed cycles : 3).[0m ×2 + 41.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.799ms + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528387 ms (missed cycles : 5). + 41.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528387 ms (missed cycles : 5).[0m ×2 + 41.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 42.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 42.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688483 ms (missed cycles : 2). + 42.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688483 ms (missed cycles : 2).[0m ×2 + 42.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 43.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128263 ms (missed cycles : 2). + 43.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128263 ms (missed cycles : 2).[0m ×2 + 43.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 44.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418623 ms (missed cycles : 5). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418623 ms (missed cycles : 5).[0m ×2 + 45.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726199 ms (missed cycles : 2). + 45.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726199 ms (missed cycles : 2).[0m ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801668 ms (missed cycles : 3). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801668 ms (missed cycles : 3).[0m ×2 + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400934 ms (missed cycles : 4). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400934 ms (missed cycles : 4).[0m ×2 + 47.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377005 ms (missed cycles : 2). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377005 ms (missed cycles : 2).[0m ×2 + 48.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768788 ms (missed cycles : 3). + 49.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768788 ms (missed cycles : 3).[0m ×2 + 49.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 50.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.171ms + 50.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273667 ms (missed cycles : 4). + 50.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273667 ms (missed cycles : 4).[0m ×2 + 51.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 51.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984333 ms (missed cycles : 3). + 51.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984333 ms (missed cycles : 3).[0m ×2 + 52.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271544 ms (missed cycles : 2). + 52.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271544 ms (missed cycles : 2).[0m ×2 + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884596 ms (missed cycles : 5). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884596 ms (missed cycles : 5).[0m ×2 + 54.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 54.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977131 ms (missed cycles : 2). + 54.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977131 ms (missed cycles : 2).[0m ×2 + 55.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 55.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789480035.65634561 seconds ×3 + 55.70sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.70sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 56.08sWARNros2_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 + 56.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 56.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.10sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 56.10sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 56.14sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789480036.23961306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235159 ms (missed cycles : 2). + 56.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235159 ms (missed cycles : 2).[0m ×2 + 56.55sINFOobjective_server_nodeFound path in 0 iterations (5.88e-07 s). ×2 + 56.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.622ms + 57.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541099 ms (missed cycles : 2). + 57.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541099 ms (missed cycles : 2).[0m ×2 + 58.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488932 ms (missed cycles : 4). + 58.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488932 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	181 warnings · 391 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOmove_groupOctomap cleared.[0m ×4 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 1.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 1.53sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 2.11sWARNros2_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 ×8 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196892 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196892 ms (missed cycles : 3).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529837 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529837 ms (missed cycles : 3).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169011 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169011 ms (missed cycles : 2).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309436 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309436 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853189 ms (missed cycles : 5). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853189 ms (missed cycles : 5).[0m ×2 + 11.63sWARNros2_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 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619513 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619513 ms (missed cycles : 3).[0m ×2 + 12.23sWARNros2_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 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765183 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765183 ms (missed cycles : 2).[0m ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289786 ms (missed cycles : 2). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289786 ms (missed cycles : 2).[0m ×2 + 14.46sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.995ms + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301069 ms (missed cycles : 2). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301069 ms (missed cycles : 2).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467536 ms (missed cycles : 3). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467536 ms (missed cycles : 3).[0m ×2 + 16.71sWARNros2_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 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622625 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622625 ms (missed cycles : 3).[0m ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163744 ms (missed cycles : 3). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163744 ms (missed cycles : 3).[0m ×2 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502437 ms (missed cycles : 3). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502437 ms (missed cycles : 3).[0m ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946541 ms (missed cycles : 2). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946541 ms (missed cycles : 2).[0m ×2 + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790901 ms (missed cycles : 2). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790901 ms (missed cycles : 2).[0m ×2 + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450687 ms (missed cycles : 2). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450687 ms (missed cycles : 2).[0m ×2 + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365552 ms (missed cycles : 3). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365552 ms (missed cycles : 3).[0m ×2 + 25.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290181 ms (missed cycles : 2). + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290181 ms (missed cycles : 2).[0m ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026089 ms (missed cycles : 3). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026089 ms (missed cycles : 3).[0m ×2 + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846076 ms (missed cycles : 3). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846076 ms (missed cycles : 3).[0m ×2 + 27.40sWARNros2_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 + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779164 ms (missed cycles : 4). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779164 ms (missed cycles : 4).[0m ×2 + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307917 ms (missed cycles : 4). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307917 ms (missed cycles : 4).[0m ×2 + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423350 ms (missed cycles : 2). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423350 ms (missed cycles : 2).[0m ×2 + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725543 ms (missed cycles : 2). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725543 ms (missed cycles : 2).[0m ×2 + 32.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 32.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080877 ms (missed cycles : 5). + 32.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080877 ms (missed cycles : 5).[0m ×2 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376792 ms (missed cycles : 3). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376792 ms (missed cycles : 3).[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887803 ms (missed cycles : 2). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887803 ms (missed cycles : 2).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666419 ms (missed cycles : 2). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666419 ms (missed cycles : 2).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540559 ms (missed cycles : 3). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540559 ms (missed cycles : 3).[0m ×2 + 37.70sWARNros2_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 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463900 ms (missed cycles : 4). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463900 ms (missed cycles : 4).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558394 ms (missed cycles : 3). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558394 ms (missed cycles : 3).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383422 ms (missed cycles : 3). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383422 ms (missed cycles : 3).[0m ×2 + 41.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196933 ms (missed cycles : 3). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196933 ms (missed cycles : 3).[0m ×2 + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883093 ms (missed cycles : 3). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883093 ms (missed cycles : 3).[0m ×2 + 42.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 43.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302982 ms (missed cycles : 2). + 43.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302982 ms (missed cycles : 2).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962389 ms (missed cycles : 2). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962389 ms (missed cycles : 2).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046451 ms (missed cycles : 3). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046451 ms (missed cycles : 3).[0m ×2 + 46.12sINFOjoint_trajectory_controllerGoal reached, success! + 46.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789479880.37872219 seconds ×3 + 46.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.18sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.18sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.18sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373863 ms (missed cycles : 3). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373863 ms (missed cycles : 3).[0m ×2 + 46.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.70sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789479880.96485639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152966 ms (missed cycles : 2). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152966 ms (missed cycles : 2).[0m ×2 + 47.82sINFOobjective_server_nodeFound path in 0 iterations (3.249e-05 s). ×2 + 47.89sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451637 ms (missed cycles : 2). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451637 ms (missed cycles : 2).[0m ×2 + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.9s	154 warnings · 182 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188948 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188948 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702091 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702091 ms (missed cycles : 4).[0m ×2 + 1.46sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.46sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.50sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789479950.21482825 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899631 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899631 ms (missed cycles : 2).[0m ×2 + 2.51sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.99sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.01sWARNros2_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 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789479951.80054665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384787 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384787 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693891 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693891 ms (missed cycles : 2).[0m ×2 + 4.45sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929734 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929734 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247657 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247657 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221472 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221472 ms (missed cycles : 2).[0m ×2 + 8.21sWARNros2_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 + 8.23sWARNros2_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 + 8.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789358 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789358 ms (missed cycles : 3).[0m ×2 + 9.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.017ms + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930730 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930730 ms (missed cycles : 3).[0m ×2 + 10.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.597ms + 10.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.872ms + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210299 ms (missed cycles : 4). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210299 ms (missed cycles : 4).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.818ms + 11.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.163ms + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780469 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780469 ms (missed cycles : 3).[0m ×2 + 12.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.761ms + 12.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.537ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697616 ms (missed cycles : 4). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697616 ms (missed cycles : 4).[0m ×2 + 13.52sWARNros2_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 + 13.54sWARNros2_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 + 13.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.118ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997097 ms (missed cycles : 4). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997097 ms (missed cycles : 4).[0m ×2 + 14.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.769ms + 14.75sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 7.839ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863496 ms (missed cycles : 4). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863496 ms (missed cycles : 4).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 2460 particles 723 points - 5.646ms + 16.00sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 5.758ms + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305466 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305466 ms (missed cycles : 3).[0m ×2 + 16.63sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 2.545ms + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680880 ms (missed cycles : 5). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680880 ms (missed cycles : 5).[0m ×2 + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.200ms + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.613ms + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927285 ms (missed cycles : 4). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927285 ms (missed cycles : 4).[0m ×2 + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 19.12sWARNros2_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 ×4 + 19.14sWARNros2_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 + 19.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674828 ms (missed cycles : 3). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674828 ms (missed cycles : 3).[0m ×2 + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.420ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177982 ms (missed cycles : 3). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177982 ms (missed cycles : 3).[0m ×2 + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853978 ms (missed cycles : 3). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853978 ms (missed cycles : 3).[0m ×2 + 21.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082506 ms (missed cycles : 3). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082506 ms (missed cycles : 3).[0m ×2 + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 23.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349830 ms (missed cycles : 3). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349830 ms (missed cycles : 3).[0m ×2 + 24.16sWARNros2_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 + 24.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 24.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498288 ms (missed cycles : 3). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498288 ms (missed cycles : 3).[0m ×2 + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888290 ms (missed cycles : 3). + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888290 ms (missed cycles : 3).[0m ×2 + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.148400 ms (missed cycles : 4). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.148400 ms (missed cycles : 4).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.774ms + 27.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 28.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154656 ms (missed cycles : 4). + 28.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154656 ms (missed cycles : 4).[0m ×2 + 28.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 29.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291878 ms (missed cycles : 4). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291878 ms (missed cycles : 4).[0m ×2 + 29.79sWARNros2_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 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401042 ms (missed cycles : 3). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401042 ms (missed cycles : 3).[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.958ms + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516080 ms (missed cycles : 6). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516080 ms (missed cycles : 6).[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 32.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869108 ms (missed cycles : 2). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869108 ms (missed cycles : 2).[0m ×2 + 32.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005088 ms (missed cycles : 2). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005088 ms (missed cycles : 2).[0m ×2 + 34.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 34.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789479983.13072419 seconds ×3 + 34.49sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.49sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750573 ms (missed cycles : 3). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750573 ms (missed cycles : 3).[0m ×2 + 34.79sWARNros2_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 + 34.89sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.89sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.96sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789479983.71619129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.283ms + 35.40sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792288 ms (missed cycles : 4). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792288 ms (missed cycles : 4).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222060 ms (missed cycles : 2). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222060 ms (missed cycles : 2).[0m ×2 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304393 ms (missed cycles : 3). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304393 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.6s	108 warnings · 245 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752113 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752113 ms (missed cycles : 4).[0m ×2 + 1.06sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772963 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772963 ms (missed cycles : 2).[0m ×2 + 1.08sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842452 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842452 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.85sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789480175.89555836 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.95sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.95sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044424 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044424 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.46sINFOobjective_server_nodecaller: ×6 + 3.46sINFOobjective_server_nodetype: 0 ×6 + 3.46sINFOobjective_server_nodename: "" ×6 + 3.46sINFOobjective_server_nodeinstance_id: "" ×6 + 3.46sINFOobjective_server_node ×6 + 3.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789480176.49580550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-0.38, 2.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-1.28, 2.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.804ms + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×6 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.003ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091746 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091746 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146326 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146326 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329406 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329406 ms (missed cycles : 2).[0m ×2 + 6.35sWARNros2_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 + 6.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767645 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767645 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007093 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007093 ms (missed cycles : 3).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010948 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010948 ms (missed cycles : 2).[0m ×2 + 10.04sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.17sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 10.33sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.38sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215854 ms (missed cycles : 4). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215854 ms (missed cycles : 4).[0m ×2 + 10.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.82sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 11.18sINFOobjective_server_nodeFound path in 33 iterations (0.0363364 s). ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536679 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536679 ms (missed cycles : 2).[0m ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.75sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 12.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.58sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425308 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425308 ms (missed cycles : 3).[0m ×2 + 13.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.51sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007484 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007484 ms (missed cycles : 3).[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959961 ms (missed cycles : 3). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959961 ms (missed cycles : 3).[0m ×2 + 15.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.262ms + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168012 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168012 ms (missed cycles : 2).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684013 ms (missed cycles : 3). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684013 ms (missed cycles : 3).[0m ×2 + 16.99sWARNros2_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 + 17.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.060ms + 17.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.769ms + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868951 ms (missed cycles : 4). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868951 ms (missed cycles : 4).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.721ms + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391989 ms (missed cycles : 2). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391989 ms (missed cycles : 2).[0m ×2 + 19.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.125ms + 19.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789480192.48455811 seconds ×3 + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257362 ms (missed cycles : 2). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257362 ms (missed cycles : 2).[0m ×2 + 20.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480193.09757233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.12sINFOmove_groupClearing octomap...[0m ×2 + 20.12sINFOmove_groupOctomap cleared.[0m ×2 + 20.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 20.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.20sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.037ms + 21.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480194.01769781 seconds ×3 + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141607 ms (missed cycles : 2). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141607 ms (missed cycles : 2).[0m ×2 + 21.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480194.59696388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789480195.18709445 seconds ×3 + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658698 ms (missed cycles : 2). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658698 ms (missed cycles : 2).[0m ×2 + 22.32sWARNros2_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 + 22.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 22.45sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.0s	111 errors · 38 warnings · 519 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868951 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868951 ms (missed cycles : 4).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.721ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391989 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391989 ms (missed cycles : 2).[0m ×2 + 1.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.125ms + 1.55sINFOjoint_trajectory_controllerGoal reached, success! + 1.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789480192.48455811 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257362 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257362 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.11sINFOobjective_server_nodecaller: ×4 + 2.11sINFOobjective_server_nodetype: 0 ×4 + 2.11sINFOobjective_server_nodename: "" ×4 + 2.11sINFOobjective_server_nodeinstance_id: "" ×4 + 2.12sINFOobjective_server_node ×4 + 2.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480193.09757233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.23sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.23sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.037ms + 3.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480194.01769781 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141607 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141607 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480194.59696388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789480195.18709445 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658698 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658698 ms (missed cycles : 2).[0m ×2 + 4.39sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.41sWARNros2_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 + 4.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745154 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745154 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719079 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719079 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808953 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808953 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764094 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764094 ms (missed cycles : 3).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947035 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947035 ms (missed cycles : 2).[0m ×2 + 9.87sWARNros2_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 + 9.89sWARNros2_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 + 9.94sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.96sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORweb_video_auth_proxy-38process has died [pid 7871, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.96sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.97sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORweb_bridge_auth_proxy-37process has died [pid 7865, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.97sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.00sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.01sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.02sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.03sINFOvideo_server-36process has finished cleanly [pid 7861] ×2 + 10.03sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.04sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.05sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.07sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.07sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.08sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.09sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.10sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.11sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.12sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.14sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.14sINFOcontroller_managerShutdown request received.... + 10.14sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.14sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.14sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.14sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.14sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.14sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.14sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.14sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.14sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.14sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.14sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.14sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.14sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.14sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.14sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.14sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.14sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.14sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.15sINFOcontroller_managerShutting down the controller manager. + 10.15sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.16sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.17sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.17sERRORmove_group-24process has died [pid 7777, 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_9ttx79rs --params-file /tmp/launch_params_gho1q5n4 --params-file /tmp/launch_params_72_2flm3 --params-file /tmp/launch_params_84t9dma6 --params-file /tmp/launch_params_l3_17w56 --params-file /tmp/launch_params_am1ans55']. ×2 + 10.18sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.19sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.20sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.21sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.31sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.32sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.33sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.33sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.33sINFOmap_serverDeactivating + 10.33sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.33sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.33sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.34sINFOcontroller_serverDeactivating + 10.34sINFOlocal_costmap.local_costmapDeactivating + 10.34sINFOvideo_server2026/09/15 13:50:00 INF shutting down gracefully ×2 + 10.34sINFOvideo_server2026/09/15 13:50:00 INF [WebRTC] closing ×2 + 10.34sINFOvideo_server2026/09/15 13:50:00 INF [RTSP] closing ×2 + 10.34sINFOvideo_server2026/09/15 13:50:00 INF waiting for running hooks ×2 + 10.34sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.34sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.34sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.34sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.34sINFOmap_serverCleaning up + 10.34sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.34sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.34sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.34sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.34sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.34sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.34sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.34sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.34sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.34sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.34sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.34sERRORmove_groupStack trace (most recent call last) in thread 8461: ×2 + 10.34sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.34sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f5f558a63, in __clone ×2 + 10.34sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f5f4cbaa3, in ×2 + 10.34sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2f5f75ddb3, in ×2 + 10.34sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f2f5fec1b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.34sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2f5faef620, in rclcpp::Rate::sleep() ×2 + 10.34sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2f5fa31d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.34sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2f5f9f3087, in ×2 + 10.34sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2f5f72c390, in __cxa_throw ×2 + 10.34sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2f5f716a54, in std::terminate() ×2 + 10.34sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2f5f72c0d9, in ×2 + 10.34sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2f5f716ff4, in ×2 + 10.34sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f5f4578fe, in abort ×2 + 10.34sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f5f47427d, in raise ×2 + 10.34sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f5f4cdb2c, in pthread_kill ×2 + 10.34sERRORmove_groupAborted (Signal sent by tkill() 7777 0) ×2 + 10.34sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.34sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.34sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.34sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.34sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.34sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.34sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.34sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.34sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.34sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.35sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.35sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.35sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.35sINFOodom_qos_relay.pymain() ×2 + 10.35sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.35sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.35sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.35sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.35sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.35sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.35sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.35sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.35sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.35sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.35sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.35sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.36sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.36sERRORamclThe bond connection to the lifecycle manager has been broken + 10.39sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.40sINFOcontroller_serverCleaning up + 10.40sINFOlocal_costmap.local_costmapCleaning up + 10.44sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.44sINFOsmoother_serverDeactivating + 10.44sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.45sINFOsmoother_serverCleaning up + 10.47sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.47sINFOplanner_serverDeactivating + 10.47sINFOglobal_costmap.global_costmapDeactivating + 10.51sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.51sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.52sINFOplanner_serverCleaning up + 10.54sINFOglobal_costmap.global_costmapCleaning up + 10.54sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.54sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.54sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.54sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.54sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.54sINFOvelocity_smootherDeactivating + 10.54sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.55sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.55sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.58sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.58sINFObehavior_serverDeactivating + 10.58sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.59sINFObehavior_serverCleaning up + 10.60sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.60sINFObt_navigatorDeactivating + 10.60sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.61sINFObt_navigatorCleaning up + 10.66sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.66sINFOwaypoint_followerDeactivating + 10.66sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.76sINFObt_navigatorCompleted Cleaning up + 10.76sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.76sINFOwaypoint_followerCleaning up + 10.77sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.77sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.77sINFOvelocity_smootherCleaning up + 10.77sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.79sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.79sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 10.79sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.79sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.79sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.79sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.79sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.79sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.79sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.79sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.79sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.79sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.80sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.80sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.80sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.80sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.80sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.81sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.82sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.82sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.82sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.82sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.82sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.82sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.82sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.82sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.82sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.82sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.82sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.07sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7860] ×2 + 11.07sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.13sERRORcomponent_container_isolated-1process has died [pid 7665, 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_h5l7eg96 --params-file /tmp/launch_params_d0vntdhi -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.15sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7823] ×2 + 11.16sINFOui_teleop_bridge-33process has finished cleanly [pid 7828] ×2 + 11.16sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7822] ×2 + 11.17sINFOexecute_objective_bridge-32process has finished cleanly [pid 7827] ×2 + 11.19sINFOparameter_manager_node-25process has finished cleanly [pid 7820] ×2 + 11.21sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7756] ×2 + 11.21sINFOwaypoint_manager_node-26process has finished cleanly [pid 7821] ×2 + 11.22sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7755] ×2 + 11.22sINFOstatic_transform_publisher-9process has finished cleanly [pid 7673] ×2 + 11.23sINFOstatic_transform_publisher-8process has finished cleanly [pid 7672] ×2 + 11.24sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.24sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.24sINFOlidar_flattener.pymain() ×2 + 11.24sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.24sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.24sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.24sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.24sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.24sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.24sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.24sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.24sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.24sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.25sINFOcomponent_container_mt-31process has finished cleanly [pid 7826] ×2 + 11.29sERRORlidar_flattener.py-7process has died [pid 7671, 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_8p9jes8b']. ×2 + 11.32sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7670] ×2 + 11.32sERRORodom_qos_relay.py-5process has died [pid 7669, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.34sINFOobjective_server_node[2026-09-15 13:50:02.255] [moveit_pro_license] [critical] ×2 + 11.34sINFOobjective_server_node************************************************* ×4 + 11.34sINFOobjective_server_node* MoveIt Pro License ×2 + 11.35sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.36sINFOstatic_transform_publisher-4process has finished cleanly [pid 7668] ×2 + 11.36sINFOstatic_transform_publisher-3process has finished cleanly [pid 7667] ×2 + 11.41sINFOobjective_server_node_main-29process has finished cleanly [pid 7824] ×2 + 11.41sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.69sERRORcomponent_container_isolated-2process has died [pid 7666, 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_h5l7eg96 --params-file /tmp/launch_params_weet9bbx -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.28sINFOcomponent_container_mt-30process has finished cleanly [pid 7825] ×2 + 12.89sINFOros2_control_node-12process has finished cleanly [pid 7757] ×2 + 13.08sINFOweb_bridge-34process has finished cleanly [pid 7851] ×2 + 13.08sINFOlaunchprocess[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 · 99 warnings · 155 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271544 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271544 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884596 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884596 ms (missed cycles : 5).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977131 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977131 ms (missed cycles : 2).[0m ×2 + 2.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789480035.65634561 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.22sWARNros2_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 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNros2_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 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789480036.23961306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235159 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235159 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (5.88e-07 s). ×2 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.622ms + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541099 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541099 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488932 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488932 ms (missed cycles : 4).[0m ×2 + 5.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090418 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090418 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734999 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734999 ms (missed cycles : 2).[0m ×2 + 8.47sWARNros2_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 + 8.49sWARNros2_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 + 8.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.606ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395365 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395365 ms (missed cycles : 3).[0m ×2 + 9.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.278ms + 9.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.694ms + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800046 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800046 ms (missed cycles : 2).[0m ×2 + 10.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.945ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510693 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510693 ms (missed cycles : 3).[0m ×2 + 10.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.565ms + 11.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.070ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038760 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038760 ms (missed cycles : 2).[0m ×2 + 12.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.684ms + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.559ms + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753040 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753040 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.585ms + 13.68sINFOobjective_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 + 13.69sINFOjoint_trajectory_controllerGot request to cancel goal + 13.69sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.69sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.69sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.70sERRORobjective_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: 1789480046.66139913 seconds ×3 + 13.74sWARNlocal_costmap.local_costmapSensor origin at (-0.45, 2.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.74sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 2.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093965 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093965 ms (missed cycles : 2).[0m ×2 + 13.88sWARNros2_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 + 13.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 13.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.272ms + 13.94sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.94sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.24sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789480047.25010371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.924ms + 14.69sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098631 ms (missed cycles : 5). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098631 ms (missed cycles : 5).[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017588 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017588 ms (missed cycles : 3).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791270 ms (missed cycles : 3). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791270 ms (missed cycles : 3).[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 3.329725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_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 + 0.09sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 2.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789479943.83182979 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789479944.42468977 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 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.453ms + 4.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2).[0m ×2 + 5.51sWARNros2_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 + 5.53sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704093 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704093 ms (missed cycles : 4).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188948 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188948 ms (missed cycles : 3).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702091 ms (missed cycles : 4). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702091 ms (missed cycles : 4).[0m ×2 + 9.15sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789479950.21482825 seconds ×3 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899631 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899631 ms (missed cycles : 2).[0m ×2 + 10.63sWARNros2_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 + 10.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 10.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789479951.80054665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384787 ms (missed cycles : 5). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384787 ms (missed cycles : 5).[0m ×2 + 11.13sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693891 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693891 ms (missed cycles : 2).[0m ×2 + 12.10sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929734 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929734 ms (missed cycles : 3).[0m ×2 + 13.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	67 warnings · 139 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744230 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744230 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778159 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778159 ms (missed cycles : 2).[0m ×2 + 1.26sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sWARNros2_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 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365930 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365930 ms (missed cycles : 3).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.93sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.96sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789480112.06028175 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760335 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760335 ms (missed cycles : 5).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789480112.64193916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.183ms + 4.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913937 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913937 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122579 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122579 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2).[0m ×2 + 6.57sWARNros2_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 + 6.60sWARNros2_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 ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3).[0m ×2 + 9.46sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789480118.56208134 seconds ×3 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2).[0m ×2 + 10.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.01sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.05sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789480119.14542794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.48sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3).[0m ×2 + 11.88sWARNros2_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 + 11.91sWARNros2_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 + 12.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	47 warnings · 144 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302982 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962389 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962389 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046451 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046451 ms (missed cycles : 3).[0m ×2 + 2.76sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.76sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789479880.37872219 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373863 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373863 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789479880.96485639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152966 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152966 ms (missed cycles : 2).[0m ×2 + 4.40sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (3.249e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451637 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451637 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3).[0m ×2 + 6.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373998 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373998 ms (missed cycles : 3).[0m ×2 + 7.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.400ms + 7.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980309 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980309 ms (missed cycles : 3).[0m ×2 + 8.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 8.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789479886.49498963 seconds ×3 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748174 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748174 ms (missed cycles : 3).[0m ×2 + 9.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.46sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.50sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789479887.08169556 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.61sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 2.930ms + 9.89sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341838 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341838 ms (missed cycles : 3).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048898 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048898 ms (missed cycles : 2).[0m ×2 + 12.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806883 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806883 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.5s	32 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684013 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 0.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.060ms + 0.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.769ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868951 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868951 ms (missed cycles : 4).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.721ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391989 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391989 ms (missed cycles : 2).[0m ×2 + 2.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.125ms + 2.56sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789480192.48455811 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257362 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257362 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480193.09757233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.037ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480194.01769781 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141607 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141607 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.66sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480194.59696388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789480195.18709445 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658698 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658698 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 5.43sWARNros2_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 + 5.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745154 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745154 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719079 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719079 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	46 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_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 + 0.09sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789479943.83182979 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789479944.42468977 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 ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.453ms + 4.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.10sINFOjoint_trajectory_controllerReceived new action goal + 4.10sINFOjoint_trajectory_controllerAccepted new action goal + 4.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2).[0m ×2 + 5.51sWARNros2_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 + 5.53sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	22 warnings · 319 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOmove_groupOctomap cleared.[0m ×4 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 1.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 1.53sWARNros2_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 + 1.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 2.11sWARNros2_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 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	25 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302982 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962389 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962389 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046451 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046451 ms (missed cycles : 3).[0m ×2 + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789479880.37872219 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.82sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373863 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373863 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789479880.96485639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152966 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152966 ms (missed cycles : 2).[0m ×2 + 4.40sWARNros2_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 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (3.249e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOjoint_trajectory_controllerReceived new action goal + 4.56sINFOjoint_trajectory_controllerAccepted new action goal + 4.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451637 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451637 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	25 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302982 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962389 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962389 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046451 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046451 ms (missed cycles : 3).[0m ×2 + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789479880.37872219 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.82sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373863 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373863 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789479880.96485639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.181ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152966 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152966 ms (missed cycles : 2).[0m ×2 + 4.40sWARNros2_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 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (3.249e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOjoint_trajectory_controllerReceived new action goal + 4.56sINFOjoint_trajectory_controllerAccepted new action goal + 4.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451637 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451637 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	22 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. + 0.37sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.37sINFOvelocity_smootherActivating + 0.37sINFOvelocity_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 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 2.65sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.22sINFOmove_groupClearing octomap...[0m ×4 + 3.22sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×4 + 3.22sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 4.18sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[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 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 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 + 5.18sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	25 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770297 ms (missed cycles : 3).[0m ×2 + 0.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373998 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373998 ms (missed cycles : 3).[0m ×2 + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.400ms + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980309 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980309 ms (missed cycles : 3).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789479886.49498963 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748174 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748174 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789479887.08169556 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sWARNros2_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 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 2.930ms + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341838 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341838 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048898 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048898 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806883 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806883 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	46 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_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 + 0.09sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789479943.83182979 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789479944.42468977 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 ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.453ms + 4.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.10sINFOjoint_trajectory_controllerReceived new action goal + 4.10sINFOjoint_trajectory_controllerAccepted new action goal + 4.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2).[0m ×2 + 5.51sWARNros2_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 + 5.53sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	46 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_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 + 0.09sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789479943.83182979 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789479944.42468977 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 ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.453ms + 4.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.10sINFOjoint_trajectory_controllerReceived new action goal + 4.10sINFOjoint_trajectory_controllerAccepted new action goal + 4.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2).[0m ×2 + 5.51sWARNros2_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 + 5.53sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	46 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_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 + 0.09sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789479943.83182979 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789479944.42468977 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 ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.453ms + 4.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.10sINFOjoint_trajectory_controllerReceived new action goal + 4.10sINFOjoint_trajectory_controllerAccepted new action goal + 4.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2).[0m ×2 + 5.51sWARNros2_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 + 5.53sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	46 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329725 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_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 + 0.09sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861728 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641910 ms (missed cycles : 3).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789479943.83182979 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068823 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789479944.42468977 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 ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.453ms + 4.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.10sINFOjoint_trajectory_controllerReceived new action goal + 4.10sINFOjoint_trajectory_controllerAccepted new action goal + 4.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292970 ms (missed cycles : 2).[0m ×2 + 5.51sWARNros2_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 + 5.53sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982932 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	43 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516080 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516080 ms (missed cycles : 6).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869108 ms (missed cycles : 2).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005088 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005088 ms (missed cycles : 2).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789479983.13072419 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750573 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750573 ms (missed cycles : 3).[0m ×2 + 3.40sWARNros2_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 + 3.42sWARNros2_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 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789479983.71619129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.283ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792288 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792288 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222060 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222060 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_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 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304393 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304393 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	43 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516080 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516080 ms (missed cycles : 6).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869108 ms (missed cycles : 2).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005088 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005088 ms (missed cycles : 2).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789479983.13072419 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750573 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750573 ms (missed cycles : 3).[0m ×2 + 3.40sWARNros2_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 + 3.42sWARNros2_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 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789479983.71619129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.283ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792288 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792288 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222060 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222060 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_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 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304393 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304393 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	43 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516080 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516080 ms (missed cycles : 6).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869108 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869108 ms (missed cycles : 2).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005088 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005088 ms (missed cycles : 2).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789479983.13072419 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750573 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750573 ms (missed cycles : 3).[0m ×2 + 3.40sWARNros2_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 + 3.42sWARNros2_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 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789479983.71619129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.283ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792288 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792288 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222060 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222060 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_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 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304393 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304393 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	22 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. + 0.37sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.37sINFOvelocity_smootherActivating + 0.37sINFOvelocity_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 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 2.65sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.22sINFOmove_groupClearing octomap...[0m ×4 + 3.22sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×4 + 3.22sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 4.18sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[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 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 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 + 5.18sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_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 + 0.18sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789480118.56208134 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789480119.14542794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.49sWARNros2_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 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3).[0m ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	22 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. + 0.37sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.37sINFOvelocity_smootherActivating + 0.37sINFOvelocity_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 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 2.65sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.22sINFOmove_groupClearing octomap...[0m ×4 + 3.22sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×4 + 3.22sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 4.18sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[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 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 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 + 5.18sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_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 + 0.18sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789480118.56208134 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789480119.14542794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.49sWARNros2_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 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3).[0m ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_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 + 0.18sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789480118.56208134 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789480119.14542794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.49sWARNros2_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 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3).[0m ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_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 + 0.18sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789480118.56208134 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789480119.14542794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.49sWARNros2_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 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3).[0m ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_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 + 0.18sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789480118.56208134 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789480119.14542794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.49sWARNros2_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 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3).[0m ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_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 + 0.18sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789480118.56208134 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789480119.14542794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.49sWARNros2_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 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3).[0m ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	29 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450069 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_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 + 0.18sWARNros2_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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361212 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543692 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789480118.56208134 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809030 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789480119.14542794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005817 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496721 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.49sWARNros2_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 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005131 ms (missed cycles : 3).[0m ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	26 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684013 ms (missed cycles : 3).[0m ×2 + 0.08sWARNros2_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 + 0.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.060ms + 0.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.769ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868951 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868951 ms (missed cycles : 4).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.721ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391989 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391989 ms (missed cycles : 2).[0m ×2 + 2.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.125ms + 2.56sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789480192.48455811 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257362 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257362 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480193.09757233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.037ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480194.01769781 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141607 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141607 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.66sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480194.59696388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789480195.18709445 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658698 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658698 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 5.43sWARNros2_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 + 5.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	28 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 0.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.74sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.74sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.27sINFOobjective_server_nodecaller: ×10 + 2.27sINFOobjective_server_nodetype: 0 ×10 + 2.27sINFOobjective_server_nodename: "" ×10 + 2.27sINFOobjective_server_nodeinstance_id: "" ×10 + 2.27sINFOobjective_server_node ×10 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.31sINFOmove_groupClearing octomap...[0m ×4 + 2.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×4 + 2.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 3.26sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.84sWARNros2_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 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.26sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 341 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655847 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655847 ms (missed cycles : 3).[0m ×2 + 0.15sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.16sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.26sINFObehavior_serverActivating + 0.26sINFObehavior_serverActivating spin + 0.26sINFObehavior_serverActivating backup + 0.26sINFObehavior_serverActivating drive_on_heading + 0.26sINFObehavior_serverActivating assisted_teleop + 0.26sINFObehavior_serverActivating wait + 0.26sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.37sINFObt_navigatorActivating + 0.42sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.53sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.53sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.53sINFOwaypoint_followerActivating + 0.53sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 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. + 0.74sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.74sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.74sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 1.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 2.91sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.91sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.92sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.92sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.92sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.44sINFOobjective_server_nodecaller: ×10 + 3.44sINFOobjective_server_nodetype: 0 ×10 + 3.44sINFOobjective_server_nodename: "" ×10 + 3.44sINFOobjective_server_nodeinstance_id: "" ×10 + 3.44sINFOobjective_server_node ×10 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.48sINFOmove_groupClearing octomap...[0m ×4 + 3.48sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×4 + 3.48sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 4.44sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 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 + 5.44sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 7.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	25 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. + 0.37sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.37sINFOvelocity_smootherActivating + 0.37sINFOvelocity_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 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 2.65sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.22sINFOmove_groupClearing octomap...[0m ×4 + 3.22sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×4 + 3.22sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 4.18sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[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 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 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 + 5.18sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 7.20sINFOjoint_trajectory_controllerReceived new action goal + 7.20sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.20sINFOjoint_trajectory_controllerAccepted new action goal + 7.20sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	27 warnings · 338 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655847 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655847 ms (missed cycles : 3).[0m ×2 + 0.15sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.16sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.26sINFObehavior_serverActivating + 0.26sINFObehavior_serverActivating spin + 0.26sINFObehavior_serverActivating backup + 0.26sINFObehavior_serverActivating drive_on_heading + 0.26sINFObehavior_serverActivating assisted_teleop + 0.26sINFObehavior_serverActivating wait + 0.26sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.37sINFObt_navigatorActivating + 0.42sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.53sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.53sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.53sINFOwaypoint_followerActivating + 0.53sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 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. + 0.74sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.74sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.74sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 1.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 2.91sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.91sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.92sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.92sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.92sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.44sINFOobjective_server_nodecaller: ×10 + 3.44sINFOobjective_server_nodetype: 0 ×10 + 3.44sINFOobjective_server_nodename: "" ×10 + 3.44sINFOobjective_server_nodeinstance_id: "" ×10 + 3.44sINFOobjective_server_node ×10 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.48sINFOmove_groupClearing octomap...[0m ×4 + 3.48sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×4 + 3.48sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 4.44sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 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 + 5.44sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	22 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. + 0.37sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.37sINFOvelocity_smootherActivating + 0.37sINFOvelocity_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 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 2.65sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.22sINFOmove_groupClearing octomap...[0m ×4 + 3.22sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×4 + 3.22sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 4.18sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[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 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 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 + 5.18sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	22 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. + 0.37sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.37sINFOvelocity_smootherActivating + 0.37sINFOvelocity_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 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 2.65sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.22sINFOmove_groupClearing octomap...[0m ×4 + 3.22sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×4 + 3.22sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 4.18sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[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 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 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 + 5.18sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	22 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. + 0.37sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.37sINFOvelocity_smootherActivating + 0.37sINFOvelocity_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 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 2.65sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.65sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.66sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.66sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.18sINFOobjective_server_nodecaller: ×10 + 3.18sINFOobjective_server_nodetype: 0 ×10 + 3.18sINFOobjective_server_nodename: "" ×10 + 3.18sINFOobjective_server_nodeinstance_id: "" ×10 + 3.18sINFOobjective_server_node ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.22sINFOmove_groupClearing octomap...[0m ×4 + 3.22sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×4 + 3.22sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 4.18sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[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 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 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 + 5.18sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 5.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	25 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142073 ms (missed cycles : 4).[0m ×2 + 0.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.74sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.74sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.27sINFOobjective_server_nodecaller: ×10 + 2.27sINFOobjective_server_nodetype: 0 ×10 + 2.27sINFOobjective_server_nodename: "" ×10 + 2.27sINFOobjective_server_nodeinstance_id: "" ×10 + 2.27sINFOobjective_server_node ×10 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.31sINFOmove_groupClearing octomap...[0m ×4 + 2.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×4 + 2.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 3.26sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.84sWARNros2_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 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.26sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311535 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128579 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.59sINFOobjective_server_nodecaller: ×10 + 1.59sINFOobjective_server_nodetype: 0 ×10 + 1.59sINFOobjective_server_nodename: "" ×10 + 1.59sINFOobjective_server_nodeinstance_id: "" ×10 + 1.59sINFOobjective_server_node ×10 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479834.79436183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479834.80458713 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479835.38208437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479835.39221072 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494200 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479835.96999002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479836.12076116 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226834 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479836.72191215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479836.81203866 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789479837.39564180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512532 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012211 ms (missed cycles : 3).[0m ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981760 ms (missed cycles : 3).[0m ×2