MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

6.4s

Avg test time

61%

Objective pass rate

Show INFO/DEBUG

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

7 fail6 pass24 skip

✕ failed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	1.3s	6 errors · 24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019002 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019002 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048196 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048196 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799501 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799501 ms (missed cycles : 5).[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789662493.26624322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827832 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827832 ms (missed cycles : 4).[0m ×2 + 3.65sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 3.66sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789662493.99644804 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789662494.60741949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849922 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849922 ms (missed cycles : 4).[0m ×2 + 4.71sINFOjoint_trajectory_controllerReceived new action goal + 4.71sINFOjoint_trajectory_controllerAccepted new action goal + 4.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080579 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080579 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415073 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415073 ms (missed cycles : 2).[0m ×2
✕ failed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	1.3s	18 errors · 33 warnings · 225 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.604ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113876 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113876 ms (missed cycles : 2).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.687ms + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.741ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.840ms + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.868ms + 2.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662476.26563549 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.52sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.52sINFOobjective_server_nodecaller: ×8 + 3.52sINFOobjective_server_nodetype: 0 ×8 + 3.52sINFOobjective_server_nodename: "" ×8 + 3.52sINFOobjective_server_nodeinstance_id: "" ×8 + 3.52sINFOobjective_server_node ×8 + 3.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662476.85241127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.87sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 9.952ms + 4.29sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 4.30sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 4.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 5.02sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 6.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.31sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.35sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 7.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 7.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✕ failed	Move to Look at Plane	move_to_look_at_plane.xml	1.3s	30 errors · 39 warnings · 275 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.868ms + 0.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662476.26563549 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662476.85241127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.92sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 9.952ms + 1.34sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 1.35sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 1.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 4.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789662481.71737432 seconds ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789662482.34650707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3).[0m ×2 + 6.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789662483.09667969 seconds ×3 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3).[0m ×2
✕ failed	Plan Path Along Surface	plan_path_along_surface.xml	1.3s	30 errors · 39 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.69sINFOobjective_server_nodecaller: ×8 + 0.69sINFOobjective_server_nodetype: 0 ×8 + 0.69sINFOobjective_server_nodename: "" ×8 + 0.69sINFOobjective_server_nodeinstance_id: "" ×8 + 0.69sINFOobjective_server_node ×8 + 0.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.06sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789662481.71737432 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3).[0m ×2 + 4.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.76sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789662482.34650707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789662483.09667969 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192702 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192702 ms (missed cycles : 2).[0m ×2
✕ failed	Solution - Move Forward 2m	solution_move_forward_2m.xml	1.3s	12 errors · 32 warnings · 196 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 1.40sINFOjoint_trajectory_controllerGoal reached, success! + 1.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.99sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.99sINFOobjective_server_nodecaller: ×6 + 1.99sINFOobjective_server_nodetype: 0 ×6 + 1.99sINFOobjective_server_nodename: "" ×6 + 1.99sINFOobjective_server_nodeinstance_id: "" ×6 + 1.99sINFOobjective_server_node ×6 + 2.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.76sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 2.76sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.67sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.71sINFOmove_groupClearing octomap...[0m ×2 + 4.71sINFOmove_groupOctomap cleared.[0m ×2 + 4.72sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.72sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068671 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068671 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711782 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711782 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789662506.36059618 seconds ×3 + 7.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240879 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240879 ms (missed cycles : 2).[0m ×2
✕ failed	Solution - Generate coverage path	solution_generate_coverage_path.xml	1.3s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.84sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068671 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068671 ms (missed cycles : 2).[0m ×2
✕ failed	Move to Arm Upright	move_to_arm_upright.xml	1.3s	24 errors · 33 warnings · 277 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.741ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.840ms + 1.33sINFOjoint_trajectory_controllerGoal reached, success! + 1.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.868ms + 1.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662476.26563549 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.90sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.90sINFOobjective_server_nodecaller: ×10 + 1.90sINFOobjective_server_nodetype: 0 ×10 + 1.90sINFOobjective_server_nodename: "" ×10 + 1.90sINFOobjective_server_nodeinstance_id: "" ×10 + 1.90sINFOobjective_server_node ×10 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662476.85241127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.25sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 9.952ms + 2.68sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 2.68sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789662481.71737432 seconds ×3 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3).[0m ×2 + 7.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.44sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789662482.34650707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	153 warnings · 393 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 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 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 1.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 4.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149457 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149457 ms (missed cycles : 4).[0m ×2 + 7.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053075 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053075 ms (missed cycles : 2).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107246 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107246 ms (missed cycles : 3).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.925436 ms (missed cycles : 5). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.925436 ms (missed cycles : 5).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217548 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217548 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446170 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446170 ms (missed cycles : 3).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660956 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660956 ms (missed cycles : 3).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559509 ms (missed cycles : 4). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559509 ms (missed cycles : 4).[0m ×2 + 14.06sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 10.372ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746915 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746915 ms (missed cycles : 3).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275407 ms (missed cycles : 4). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275407 ms (missed cycles : 4).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699420 ms (missed cycles : 4). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699420 ms (missed cycles : 4).[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578036 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578036 ms (missed cycles : 2).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297560 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297560 ms (missed cycles : 2).[0m ×2 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095489 ms (missed cycles : 3). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095489 ms (missed cycles : 3).[0m ×2 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661467 ms (missed cycles : 3). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661467 ms (missed cycles : 3).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104823 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104823 ms (missed cycles : 2).[0m ×2 + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257547 ms (missed cycles : 2). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257547 ms (missed cycles : 2).[0m ×2 + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140593 ms (missed cycles : 4). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140593 ms (missed cycles : 4).[0m ×2 + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195483 ms (missed cycles : 4). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195483 ms (missed cycles : 4).[0m ×2 + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118512 ms (missed cycles : 2). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118512 ms (missed cycles : 2).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224442 ms (missed cycles : 2). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224442 ms (missed cycles : 2).[0m ×2 + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153742 ms (missed cycles : 3). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153742 ms (missed cycles : 3).[0m ×2 + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900948 ms (missed cycles : 3). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900948 ms (missed cycles : 3).[0m ×2 + 31.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120166 ms (missed cycles : 2). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120166 ms (missed cycles : 2).[0m ×2 + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274673 ms (missed cycles : 4). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274673 ms (missed cycles : 4).[0m ×2 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428328 ms (missed cycles : 3). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428328 ms (missed cycles : 3).[0m ×2 + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548217 ms (missed cycles : 3). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548217 ms (missed cycles : 3).[0m ×2 + 35.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752310 ms (missed cycles : 2). + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752310 ms (missed cycles : 2).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025596 ms (missed cycles : 3). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025596 ms (missed cycles : 3).[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065278 ms (missed cycles : 4). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065278 ms (missed cycles : 4).[0m ×2 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498710 ms (missed cycles : 2). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498710 ms (missed cycles : 2).[0m ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477162 ms (missed cycles : 4). + 39.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477162 ms (missed cycles : 4).[0m ×2 + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225842 ms (missed cycles : 2). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225842 ms (missed cycles : 2).[0m ×2 + 42.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096416 ms (missed cycles : 3). + 42.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096416 ms (missed cycles : 3).[0m ×2 + 42.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 7.506ms + 43.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830174 ms (missed cycles : 3). + 43.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830174 ms (missed cycles : 3).[0m ×2 + 44.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680703 ms (missed cycles : 5). + 44.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680703 ms (missed cycles : 5).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918100 ms (missed cycles : 2). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918100 ms (missed cycles : 2).[0m ×2 + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960968 ms (missed cycles : 3). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960968 ms (missed cycles : 3).[0m ×2 + 46.20sINFOjoint_trajectory_controllerGoal reached, success! + 46.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789662470.04926109 seconds ×3 + 46.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.77sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789662470.63550138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.426ms + 47.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274864 ms (missed cycles : 4). + 47.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274864 ms (missed cycles : 4).[0m ×2 + 47.66sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 47.97sINFOobjective_server_nodeFound path in 0 iterations (3.0698e-05 s). ×2 + 48.06sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384477 ms (missed cycles : 3). + 48.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384477 ms (missed cycles : 3).[0m ×2 + 49.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5). + 49.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5).[0m ×2 + 49.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.604ms + 50.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.1s	108 errors · 40 warnings · 508 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.58sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.58sINFOobjective_server_nodecaller: ×4 + 0.58sINFOobjective_server_nodetype: 0 ×4 + 0.58sINFOobjective_server_nodename: "" ×4 + 0.58sINFOobjective_server_nodeinstance_id: "" ×4 + 0.58sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.62sINFOmove_groupClearing octomap...[0m ×2 + 0.62sINFOmove_groupOctomap cleared.[0m ×2 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068671 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068671 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711782 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711782 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789662506.36059618 seconds ×3 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240879 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240879 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789662506.93897891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217768 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217768 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789662507.76910806 seconds ×3 + 4.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689021 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689021 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791323 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791323 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513340 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513340 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273197 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273197 ms (missed cycles : 2).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200018 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200018 ms (missed cycles : 2).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937225 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937225 ms (missed cycles : 2).[0m ×2 + 11.03sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 11.05sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORweb_video_auth_proxy-37process has died [pid 8942, 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 + 11.05sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 11.07sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORweb_bridge_auth_proxy-36process has died [pid 8941, 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 + 11.07sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 11.09sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 11.10sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 11.11sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 11.12sINFOvideo_server-35process has finished cleanly [pid 8940] ×2 + 11.12sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 11.13sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 11.14sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 11.15sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 11.16sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 11.17sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 11.18sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 11.19sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 11.20sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 11.21sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 11.22sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 11.22sINFOcontroller_managerShutdown request received.... + 11.22sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.22sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.22sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.22sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.22sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.22sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.22sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.22sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.22sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.22sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.22sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.22sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.22sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.22sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.22sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.22sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.22sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.22sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.22sINFOcontroller_managerShutting down the controller manager. + 11.24sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 11.25sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.26sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 11.26sERRORmove_group-23process has died [pid 8870, 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_jfryajxk --params-file /tmp/launch_params_znmro1y5 --params-file /tmp/launch_params_s1a6s6ok --params-file /tmp/launch_params_8cn1junp --params-file /tmp/launch_params_behdlzz8 --params-file /tmp/launch_params_xtvzoxhs']. ×2 + 11.27sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.28sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 11.29sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.30sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.30sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.31sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.31sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.31sINFOmap_serverDeactivating + 11.31sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.32sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.32sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.32sINFOcontroller_serverDeactivating + 11.32sINFOlocal_costmap.local_costmapDeactivating + 11.32sINFOvideo_server2026/09/17 16:28:34 INF shutting down gracefully ×2 + 11.32sINFOvideo_server2026/09/17 16:28:34 INF [WebRTC] closing ×2 + 11.32sINFOvideo_server2026/09/17 16:28:34 INF [RTSP] closing ×2 + 11.32sINFOvideo_server2026/09/17 16:28:34 INF waiting for running hooks ×2 + 11.32sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.32sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.32sINFOmap_serverCleaning up + 11.32sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.32sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.32sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.33sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.33sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.33sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.33sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.33sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.33sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.33sERRORmove_groupStack trace (most recent call last) in thread 9503: ×2 + 11.33sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.33sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.33sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.33sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.33sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.33sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.33sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.33sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.33sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.33sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.33sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.33sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.33sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.33sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.33sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.33sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.33sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.33sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 11.33sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc5cc8eda63, in __clone ×2 + 11.33sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc5cc860aa3, in ×2 + 11.33sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc5ccaf2db3, in ×2 + 11.33sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fc5cd256b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.33sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc5cce84620, in rclcpp::Rate::sleep() ×2 + 11.33sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc5ccdc6d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.33sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc5ccd88087, in ×2 + 11.33sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc5ccac1390, in __cxa_throw ×2 + 11.33sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc5ccaaba54, in std::terminate() ×2 + 11.33sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc5ccac10d9, in ×2 + 11.33sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc5ccaabff4, in ×2 + 11.33sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc5cc7ec8fe, in abort ×2 + 11.33sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc5cc80927d, in raise ×2 + 11.33sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc5cc862b2c, in pthread_kill ×2 + 11.33sERRORmove_groupAborted (Signal sent by tkill() 8870 0) ×2 + 11.33sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.33sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 11.33sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.33sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.33sINFOodom_qos_relay.pymain() ×2 + 11.33sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.33sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.33sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.33sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.33sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.33sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.33sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.33sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.33sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.33sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.34sERRORamclThe bond connection to the lifecycle manager has been broken + 11.39sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.40sINFOcontroller_serverCleaning up + 11.40sINFOlocal_costmap.local_costmapCleaning up + 11.44sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.44sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.44sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.45sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.45sINFOsmoother_serverDeactivating + 11.45sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.46sINFOsmoother_serverCleaning up + 11.47sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.47sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.47sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.47sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.47sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.47sINFOvelocity_smootherDeactivating + 11.47sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.48sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.48sINFOplanner_serverDeactivating + 11.48sINFOglobal_costmap.global_costmapDeactivating + 11.59sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.59sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.59sINFOwaypoint_followerDeactivating + 11.59sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.70sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.70sINFObt_navigatorDeactivating + 11.70sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.82sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.82sINFObehavior_serverDeactivating + 11.82sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.93sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.93sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.93sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.93sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.93sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.93sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.93sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.93sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.93sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.93sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.94sINFOvelocity_smootherCleaning up + 11.94sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.94sINFOwaypoint_followerCleaning up + 11.97sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.97sINFObt_navigatorCleaning up + 12.15sINFObt_navigatorCompleted Cleaning up + 12.15sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.15sINFObehavior_serverCleaning up + 12.16sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8939] ×2 + 12.16sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.21sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.21sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.21sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.21sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.21sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.22sINFOplanner_serverCleaning up + 12.23sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8923] ×2 + 12.24sINFOglobal_costmap.global_costmapCleaning up + 12.24sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8922] ×2 + 12.25sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.25sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.25sINFOui_teleop_bridge-32process has finished cleanly [pid 8937] ×2 + 12.27sINFOexecute_objective_bridge-31process has finished cleanly [pid 8936] ×2 + 12.27sINFOparameter_manager_node-24process has finished cleanly [pid 8873] ×2 + 12.28sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.28sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.28sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.28sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.28sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.29sINFOwaypoint_manager_node-25process has finished cleanly [pid 8919] ×2 + 12.29sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8842] ×2 + 12.30sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8749] ×2 + 12.31sINFOstatic_transform_publisher-8process has finished cleanly [pid 8748] ×2 + 12.31sINFOcomponent_container_mt-30process has finished cleanly [pid 8926] ×2 + 12.32sINFOstatic_transform_publisher-7process has finished cleanly [pid 8747] ×2 + 12.33sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.33sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 12.33sINFOlidar_flattener.pymain() ×2 + 12.33sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 12.33sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.33sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.33sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.33sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.33sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.33sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.33sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.33sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.33sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.33sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.33sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.33sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.33sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.33sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.34sINFOstatic_transform_publisher-4process has finished cleanly [pid 8744] ×2 + 12.35sINFOobjective_server_node[2026-09-17 16:28:35.438] [moveit_pro_license] [info] ×2 + 12.35sINFOobjective_server_node************************************************* ×4 + 12.35sINFOobjective_server_node* MoveIt Pro License ×2 + 12.35sINFOobjective_server_node* Application has successfully terminated ×2 + 12.35sINFOstatic_transform_publisher-3process has finished cleanly [pid 8743] ×2 + 12.38sERRORlidar_flattener.py-6process has died [pid 8746, 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_4zbbave7']. ×2 + 12.40sERRORodom_qos_relay.py-5process has died [pid 8745, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.40sINFOobjective_server_node_main-28process has finished cleanly [pid 8924] ×2 + 12.40sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 12.61sERRORcomponent_container_isolated-1process has died [pid 8741, 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_e4j5bgrd --params-file /tmp/launch_params_n600oiyn -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.36sINFOcomponent_container_mt-29process has finished cleanly [pid 8925] ×2 + 13.65sERRORcomponent_container_isolated-2process has died [pid 8742, 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_e4j5bgrd --params-file /tmp/launch_params_e2qksqjh -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.97sINFOros2_control_node-11process has finished cleanly [pid 8843] ×2 + 14.26sINFOweb_bridge-33process has finished cleanly [pid 8938] ×2 + 14.26sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	30 errors · 66 warnings · 273 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 0.28sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.28sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789662481.71737432 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3).[0m ×2 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.60sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789662482.34650707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3).[0m ×2 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789662483.09667969 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192702 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192702 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648353 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648353 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860968 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860968 ms (missed cycles : 2).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427753 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427753 ms (missed cycles : 3).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303621 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303621 ms (missed cycles : 2).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019002 ms (missed cycles : 4). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019002 ms (missed cycles : 4).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048196 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048196 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799501 ms (missed cycles : 5). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799501 ms (missed cycles : 5).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789662493.26624322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827832 ms (missed cycles : 4). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827832 ms (missed cycles : 4).[0m ×2 + 15.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789662493.99644804 seconds ×3 + 15.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.82sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789662494.60741949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849922 ms (missed cycles : 4). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849922 ms (missed cycles : 4).[0m ×2 + 16.30sINFOjoint_trajectory_controllerReceived new action goal + 16.30sINFOjoint_trajectory_controllerAccepted new action goal + 16.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 16.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080579 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080579 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	18 errors · 45 warnings · 280 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048196 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048196 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799501 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799501 ms (missed cycles : 5).[0m ×2 + 1.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.82sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.82sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.82sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.82sINFOobjective_server_nodecaller: ×10 + 1.82sINFOobjective_server_nodetype: 0 ×10 + 1.82sINFOobjective_server_nodename: "" ×10 + 1.82sINFOobjective_server_nodeinstance_id: "" ×10 + 1.82sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789662493.26624322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827832 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827832 ms (missed cycles : 4).[0m ×2 + 2.60sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.61sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789662493.99644804 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789662494.60741949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849922 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849922 ms (missed cycles : 4).[0m ×2 + 3.66sINFOjoint_trajectory_controllerReceived new action goal + 3.66sINFOjoint_trajectory_controllerAccepted new action goal + 3.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080579 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080579 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415073 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415073 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 9.01sINFOjoint_trajectory_controllerGoal reached, success! + 9.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.06sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 9.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 10.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 10.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 12.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.28sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.32sINFOmove_groupClearing octomap...[0m ×2 + 12.32sINFOmove_groupOctomap cleared.[0m ×2 + 12.33sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.33sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	12 errors · 46 warnings · 242 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680703 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680703 ms (missed cycles : 5).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918100 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918100 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960968 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960968 ms (missed cycles : 3).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789662470.04926109 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.91sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.91sINFOobjective_server_nodecaller: ×8 + 2.91sINFOobjective_server_nodetype: 0 ×8 + 2.91sINFOobjective_server_nodename: "" ×8 + 2.91sINFOobjective_server_nodeinstance_id: "" ×8 + 2.91sINFOobjective_server_node ×8 + 2.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789662470.63550138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.426ms + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274864 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274864 ms (missed cycles : 4).[0m ×2 + 3.80sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.0698e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384477 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384477 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.604ms + 6.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113876 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113876 ms (missed cycles : 2).[0m ×2 + 6.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.687ms + 7.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.741ms + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2).[0m ×2 + 7.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.840ms + 8.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.868ms + 8.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662476.26563549 seconds ×3 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2).[0m ×2 + 9.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.12sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662476.85241127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.47sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 9.952ms + 9.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 9.90sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 9.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 10.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.58sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 11.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 11.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.95sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	3.2s	12 errors · 38 warnings · 221 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 0.39sINFOjoint_trajectory_controllerGoal reached, success! + 0.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.44sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.98sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.98sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.98sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.98sINFOobjective_server_nodecaller: ×8 + 0.98sINFOobjective_server_nodetype: 0 ×8 + 0.98sINFOobjective_server_nodename: "" ×8 + 0.98sINFOobjective_server_nodeinstance_id: "" ×8 + 0.98sINFOobjective_server_node ×8 + 1.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 1.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.75sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.32sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.37sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.71sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.71sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068671 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068671 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711782 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711782 ms (missed cycles : 2).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789662506.36059618 seconds ×3 + 6.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240879 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240879 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.89sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789662506.93897891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217768 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217768 ms (missed cycles : 2).[0m ×2 + 7.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789662507.76910806 seconds ×3 + 8.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689021 ms (missed cycles : 2). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689021 ms (missed cycles : 2).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791323 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791323 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 319 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.00sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 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 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 1.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 4.56sINFOjoint_trajectory_controllerReceived new action goal + 4.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.56sINFOjoint_trajectory_controllerAccepted new action goal + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149457 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149457 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680703 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680703 ms (missed cycles : 5).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918100 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918100 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960968 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960968 ms (missed cycles : 3).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789662470.04926109 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789662470.63550138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.426ms + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274864 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274864 ms (missed cycles : 4).[0m ×2 + 3.80sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.0698e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384477 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384477 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.604ms + 6.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680703 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680703 ms (missed cycles : 5).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918100 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918100 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960968 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960968 ms (missed cycles : 3).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789662470.04926109 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789662470.63550138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.426ms + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274864 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274864 ms (missed cycles : 4).[0m ×2 + 3.80sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.0698e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384477 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384477 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.604ms + 6.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4).[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.59sINFOobjective_server_nodecaller: ×10 + 2.59sINFOobjective_server_nodetype: 0 ×10 + 2.59sINFOobjective_server_nodename: "" ×10 + 2.59sINFOobjective_server_nodeinstance_id: "" ×10 + 2.59sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.64sINFOmove_groupClearing octomap...[0m ×4 + 2.64sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	12 errors · 27 warnings · 172 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687764 ms (missed cycles : 5).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.604ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.552ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113876 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113876 ms (missed cycles : 2).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.687ms + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.741ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.840ms + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.868ms + 2.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662476.26563549 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.52sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.52sINFOobjective_server_nodecaller: ×6 + 3.52sINFOobjective_server_nodetype: 0 ×6 + 3.52sINFOobjective_server_nodename: "" ×6 + 3.52sINFOobjective_server_nodeinstance_id: "" ×6 + 3.52sINFOobjective_server_node ×6 + 3.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662476.85241127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.87sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 9.952ms + 4.29sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 4.30sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 5.02sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 6.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.31sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.35sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	18 errors · 27 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.741ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.840ms + 1.33sINFOjoint_trajectory_controllerGoal reached, success! + 1.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.868ms + 1.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662476.26563549 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.90sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.90sINFOobjective_server_nodecaller: ×8 + 1.90sINFOobjective_server_nodetype: 0 ×8 + 1.90sINFOobjective_server_nodename: "" ×8 + 1.90sINFOobjective_server_nodeinstance_id: "" ×8 + 1.90sINFOobjective_server_node ×8 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662476.85241127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.25sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 9.952ms + 2.68sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 2.68sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	18 errors · 27 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.741ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.840ms + 1.33sINFOjoint_trajectory_controllerGoal reached, success! + 1.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.868ms + 1.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662476.26563549 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.90sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.90sINFOobjective_server_nodecaller: ×8 + 1.90sINFOobjective_server_nodetype: 0 ×8 + 1.90sINFOobjective_server_nodename: "" ×8 + 1.90sINFOobjective_server_nodeinstance_id: "" ×8 + 1.90sINFOobjective_server_node ×8 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662476.85241127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.25sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 9.952ms + 2.68sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 2.68sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	18 errors · 27 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.741ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.840ms + 1.33sINFOjoint_trajectory_controllerGoal reached, success! + 1.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.868ms + 1.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662476.26563549 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.90sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.90sINFOobjective_server_nodecaller: ×8 + 1.90sINFOobjective_server_nodetype: 0 ×8 + 1.90sINFOobjective_server_nodename: "" ×8 + 1.90sINFOobjective_server_nodeinstance_id: "" ×8 + 1.90sINFOobjective_server_node ×8 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662476.85241127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.25sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 9.952ms + 2.68sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 2.68sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	18 errors · 27 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.741ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.840ms + 1.33sINFOjoint_trajectory_controllerGoal reached, success! + 1.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.868ms + 1.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662476.26563549 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.90sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.90sINFOobjective_server_nodecaller: ×8 + 1.90sINFOobjective_server_nodetype: 0 ×8 + 1.90sINFOobjective_server_nodename: "" ×8 + 1.90sINFOobjective_server_nodeinstance_id: "" ×8 + 1.90sINFOobjective_server_node ×8 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662476.85241127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.25sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 9.952ms + 2.68sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 2.68sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	18 errors · 27 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 6.741ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856285 ms (missed cycles : 2).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.840ms + 1.33sINFOjoint_trajectory_controllerGoal reached, success! + 1.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 5.868ms + 1.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662476.26563549 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486620 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.90sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.90sINFOobjective_server_nodecaller: ×8 + 1.90sINFOobjective_server_nodetype: 0 ×8 + 1.90sINFOobjective_server_nodename: "" ×8 + 1.90sINFOobjective_server_nodeinstance_id: "" ×8 + 1.90sINFOobjective_server_node ×8 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662476.85241127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.25sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 9.952ms + 2.68sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 2.68sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 5.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	30 errors · 36 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.69sINFOobjective_server_nodecaller: ×8 + 0.69sINFOobjective_server_nodetype: 0 ×8 + 0.69sINFOobjective_server_nodename: "" ×8 + 0.69sINFOobjective_server_nodeinstance_id: "" ×8 + 0.69sINFOobjective_server_node ×8 + 0.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.06sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789662481.71737432 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3).[0m ×2 + 4.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.76sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789662482.34650707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789662483.09667969 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	30 errors · 36 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.69sINFOobjective_server_nodecaller: ×8 + 0.69sINFOobjective_server_nodetype: 0 ×8 + 0.69sINFOobjective_server_nodename: "" ×8 + 0.69sINFOobjective_server_nodeinstance_id: "" ×8 + 0.69sINFOobjective_server_node ×8 + 0.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.06sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789662481.71737432 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3).[0m ×2 + 4.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.76sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789662482.34650707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789662483.09667969 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	30 errors · 36 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329684 ms (missed cycles : 2).[0m ×2 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662477.59263301 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.69sINFOobjective_server_nodecaller: ×8 + 0.69sINFOobjective_server_nodetype: 0 ×8 + 0.69sINFOobjective_server_nodename: "" ×8 + 0.69sINFOobjective_server_nodeinstance_id: "" ×8 + 0.69sINFOobjective_server_node ×8 + 0.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662478.30996394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287151 ms (missed cycles : 2).[0m ×2 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662479.03013420 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.06sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662479.64220500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978891 ms (missed cycles : 2).[0m ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662480.37237072 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913944 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662480.98720145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789662481.71737432 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857220 ms (missed cycles : 3).[0m ×2 + 4.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.76sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789662482.34650707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611730 ms (missed cycles : 3).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789662483.09667969 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064852 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4).[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.59sINFOobjective_server_nodecaller: ×10 + 2.59sINFOobjective_server_nodetype: 0 ×10 + 2.59sINFOobjective_server_nodename: "" ×10 + 2.59sINFOobjective_server_nodeinstance_id: "" ×10 + 2.59sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.64sINFOmove_groupClearing octomap...[0m ×4 + 2.64sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.84sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4).[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.59sINFOobjective_server_nodecaller: ×10 + 2.59sINFOobjective_server_nodetype: 0 ×10 + 2.59sINFOobjective_server_nodename: "" ×10 + 2.59sINFOobjective_server_nodeinstance_id: "" ×10 + 2.59sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.64sINFOmove_groupClearing octomap...[0m ×4 + 2.64sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.84sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.84sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.84sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.84sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.84sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063369 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828305 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.84sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.80sINFOmove_groupClearing octomap...[0m ×2 + 5.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	12 errors · 29 warnings · 196 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432419 ms (missed cycles : 4).[0m ×2 + 0.39sINFOjoint_trajectory_controllerGoal reached, success! + 0.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.44sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662500.44755983 seconds ×3 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.98sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.98sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.98sINFOobjective_server_nodecaller: ×6 + 0.98sINFOobjective_server_nodetype: 0 ×6 + 0.98sINFOobjective_server_nodename: "" ×6 + 0.98sINFOobjective_server_nodeinstance_id: "" ×6 + 0.98sINFOobjective_server_node ×6 + 1.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662501.03030515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 1.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.75sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662501.76049161 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030118 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.32sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.37sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662502.37893534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662503.09911823 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223530 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662503.71043277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.71sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.71sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068671 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068671 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711782 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711782 ms (missed cycles : 2).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789662506.36059618 seconds ×3 + 6.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240879 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240879 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	21.3s	79 errors · 519 warnings · 2522 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/2026-09-17-16-24-43-351914-96f8f0b39da1-7575 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 5.22sINFOros2_control_node-11process started with pid [7727] + 5.22sINFOmove_group-23process started with pid [7745] + 5.22sINFOparameter_manager_node-24process started with pid [7746] + 5.22sINFOwaypoint_manager_node-25process started with pid [7810] + 5.22sINFOmove_joint_resampler_node-26process started with pid [7817] + 5.22sINFOmove_end_effector_resampler_node-27process started with pid [7818] + 5.22sINFOobjective_server_node_main-28process started with pid [7821] + 5.22sINFOcomponent_container_mt-29process started with pid [7822] + 5.22sINFOcomponent_container_mt-30process started with pid [7823] + 5.22sINFOexecute_objective_bridge-31process started with pid [7824] + 5.22sINFOui_teleop_bridge-32process started with pid [7825] + 5.22sINFOweb_bridge-33process started with pid [7826] + 5.22sINFOtf2_web_republisher_node-34process started with pid [7827] + 5.22sINFOvideo_server-35process started with pid [7828] + 5.22sINFOweb_bridge_auth_proxy-36process started with pid [7831] + 5.22sINFOweb_video_auth_proxy-37process started with pid [7832] + 5.22sINFOcomponent_container_isolated-1process started with pid [7625] + 5.22sINFOcomponent_container_isolated-2process started with pid [7626] + 5.22sINFOstatic_transform_publisher-3process started with pid [7627] + 5.22sINFOstatic_transform_publisher-4process started with pid [7628] + 5.22sINFOodom_qos_relay.py-5process started with pid [7629] + 5.22sINFOlidar_flattener.py-6process started with pid [7630] + 5.22sINFOstatic_transform_publisher-7process started with pid [7631] + 5.22sINFOstatic_transform_publisher-8process started with pid [7632] + 5.22sINFOscan_to_scan_filter_chain-9process started with pid [7633] + 5.22sINFOscan_to_scan_filter_chain-10process started with pid [7726] + 5.22sINFOros2-12process started with pid [7728] + 5.22sINFOros2-13process started with pid [7729] + 5.22sINFOros2-14process started with pid [7730] + 5.22sINFOros2-15process started with pid [7731] + 5.22sINFOros2-16process started with pid [7732] + 5.22sINFOros2-17process started with pid [7733] + 5.22sINFOros2-18process started with pid [7734] + 5.22sINFOros2-19process started with pid [7735] + 5.22sINFOros2-20process started with pid [7736] + 5.22sINFOros2-21process started with pid [7737] + 5.22sINFOros2-22process started with pid [7742] + 5.27sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 5.27sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 5.27sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 5.27sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 5.27sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 5.27sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 5.27sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.27sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.27sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.27sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.27sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.27sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.27sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.27sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.27sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.27sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.27sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.27sWARNros2_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 ×3 + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901957 ms (missed cycles : 2).[0m + 5.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.38sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.42sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.56sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.56sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.56sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.61sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.61sINFOvideo_server2026/09/17 16:24:50 INF MediaMTX v1.20.1, linux, amd64 + 5.61sINFOvideo_server2026/09/17 16:24:50 INF configuration loaded from /tmp/moveit-webrtc-yzv84lnp/mediamtx.yml + 5.61sINFOvideo_server2026/09/17 16:24:50 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.61sINFOvideo_server2026/09/17 16:24:50 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.72sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.72sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.73sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.91sWARNscan_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 ×6 + 5.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 6.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 6.08sINFOmove_groupLoaded robot model in 0.295271 seconds[0m + 6.08sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 6.08sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158456 ms (missed cycles : 4).[0m + 6.50sINFOwaypoint_manager_nodeLoaded robot model in 0.28535 seconds[0m + 6.50sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.50sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.81sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.81sWARNmove_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 ×3 + 6.81sWARNmove_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 ×3 + 6.82sWARNmove_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 ×3 + 6.82sWARNmove_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 ×3 + 6.82sWARNmove_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 ×3 + 6.82sWARNmove_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 ×3 + 6.82sWARNmove_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 ×3 + 6.82sWARNmove_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 ×3 + 6.82sWARNmove_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 ×3 + 6.82sWARNmove_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 ×3 + 6.98sWARNwaypoint_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 ×3 + 6.98sWARNwaypoint_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 ×3 + 6.98sWARNwaypoint_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 ×3 + 6.98sWARNwaypoint_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 ×3 + 6.98sWARNwaypoint_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 ×3 + 6.98sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 6.99sWARNwaypoint_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 ×3 + 7.08sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 7.08sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 7.10sINFOros2_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 ×3 + 7.10sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 7.17sINFOmove_group[2026-09-17 16:24:52.212] [moveit_pro_license] [info] + 7.17sINFOmove_group************************************************* ×6 + 7.17sINFOmove_group* MoveIt Pro License ×3 + 7.17sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.26sINFOwaypoint_manager_node[2026-09-17 16:24:52.298] [moveit_pro_license] [info] + 7.26sINFOwaypoint_manager_node************************************************* ×6 + 7.26sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.26sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851006 ms (missed cycles : 2).[0m + 7.62sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.62sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.62sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.62sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.62sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.63sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.63sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.63sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.63sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.63sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.63sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.76sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.76sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.77sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.93sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.93sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.93sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.93sWARNros2_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: ×3 + 7.94sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.94sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.94sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.94sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.94sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.94sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.94sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.94sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.94sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.94sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.94sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.94sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.94sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.94sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.94sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.94sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.94sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.94sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.94sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.94sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.94sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.94sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.94sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.94sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.94sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.94sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.94sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.94sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.94sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.17sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 8.17sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.17sWARNros2_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 ×3 + 8.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 8.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 8.18sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 8.20sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 8.21sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 8.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 8.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 8.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 8.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 8.22sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 8.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.25sINFOobjective_server_node[2026-09-17 16:24:53.286] [moveit_pro_license] [info] + 8.25sINFOobjective_server_node************************************************* ×8 + 8.25sINFOobjective_server_node* MoveIt Pro License ×4 + 8.25sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.25sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.26sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.26sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.26sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.26sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.26sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.27sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.27sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.27sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.27sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.27sINFOcomponent_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 ×3 + 8.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.31sINFOobjective_server_nodeLoaded robot model in 0.0241605 seconds[0m + 8.31sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.31sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.40sWARNcomponent_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 ×3 + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958826 ms (missed cycles : 2).[0m + 8.52sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 8.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 8.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.55sINFOcomponent_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 ×3 + 8.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.56sINFOros2-16process has finished cleanly [pid 7732] + 8.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 8.69sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 8.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 8.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 8.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 8.80sINFOcomponent_container_mtLoaded robot model in 0.399007 seconds[0m + 8.80sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.80sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.81sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.82sWARNobjective_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 ×3 + 8.82sWARNobjective_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 ×3 + 8.82sWARNobjective_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 ×3 + 8.82sWARNobjective_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 ×3 + 8.82sWARNobjective_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 ×3 + 8.82sWARNobjective_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 ×3 + 8.82sWARNobjective_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 ×3 + 8.82sWARNobjective_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 ×3 + 8.82sWARNobjective_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 ×3 + 8.82sWARNobjective_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 ×3 + 8.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.90sINFOobjective_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. ×3 + 8.90sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.93sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.93sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.93sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.93sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.93sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.93sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.93sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 9.03sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.21sINFOros2_control_node[2026-09-17 16:24:54.251] [warning] No force/torque sensor configured. The VFC will ignore force references. + 9.21sINFOros2_control_node[2026-09-17 16:24:54.254] [info] Controller state will be published at 10 Hz. + 9.22sINFOros2_control_node[2026-09-17 16:24:54.255] [info] VelocityForceController 'on_configure' succeeded. + 9.31sWARNcomponent_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 ×3 + 9.31sWARNcomponent_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 ×3 + 9.31sWARNcomponent_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 ×3 + 9.31sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.32sWARNcomponent_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 ×3 + 9.33sWARNcomponent_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 ×3 + 9.33sWARNcomponent_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 ×3 + 9.33sWARNcomponent_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 ×3 + 9.33sWARNcomponent_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 ×3 + 9.33sWARNcomponent_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 ×3 + 9.33sWARNcomponent_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 ×3 + 9.33sWARNcomponent_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 ×3 + 9.33sWARNcomponent_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 ×3 + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722504 ms (missed cycles : 2).[0m + 9.54sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 9.54sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 9.54sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 9.58sINFOros2-19process has finished cleanly [pid 7735] + 9.60sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 9.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 9.61sINFOcomponent_container_mt[2026-09-17 16:24:54.654] [moveit_pro_license] [info] + 9.61sINFOcomponent_container_mt************************************************* ×6 + 9.61sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.61sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.77sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.77sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.83sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.83sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.83sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.83sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.83sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.83sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.84sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.89sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.95sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 9.95sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 9.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 9.96sINFOmove_group ×12 + 9.96sINFOmove_group******************************************************** ×6 + 9.96sINFOmove_group* MoveGroup using: ×3 + 9.96sINFOmove_group* - apply_planning_scene_service ×3 + 9.96sINFOmove_group* - clear_octomap_service ×3 + 9.96sINFOmove_group* - get_group_urdf ×3 + 9.96sINFOmove_group* - load_geometry_from_file ×3 + 9.96sINFOmove_group* - get_planning_scene_service ×3 + 9.96sINFOmove_group* - kinematics_service ×3 + 9.96sINFOmove_group* - save_geometry_to_file ×3 + 9.96sINFOmove_group* - GetPlanningGroups ×3 + 9.96sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.96sINFOmove_group[0m ×3 + 9.96sINFOmove_group[92mYou can start planning now![0m ×3 + 9.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 9.97sWARNros2_control_nodeCamera render tick took 1.03 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.99sINFOros2_control_node[2026-09-17 16:24:55.030] [warning] No force/torque sensor configured. The VFC will ignore force references. + 9.99sINFOros2_control_node[2026-09-17 16:24:55.032] [info] Controller state will be published at 10 Hz. + 9.99sINFOros2_control_node[2026-09-17 16:24:55.033] [info] VelocityForceController 'on_configure' succeeded. + 10.00sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.01sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.30sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 10.30sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 10.32sINFOros2-20process has finished cleanly [pid 7736] + 10.37sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 10.42sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 10.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768105 ms (missed cycles : 2).[0m + 10.58sWARNros2_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 + 10.83sINFOros2_control_node[2026-09-17 16:24:55.872] [info] Controller state will be published at 20 Hz. + 10.83sINFOros2_control_node[2026-09-17 16:24:55.873] [info] JointVelocityController 'on_configure' succeeded. + 11.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 11.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 11.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 11.18sINFOros2-21process has finished cleanly [pid 7737] + 11.19sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 11.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 11.19sINFOros2_control_nodeconfigure successful[0m ×9 + 11.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 11.20sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 11.30sWARNobjective_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/. ×3 + 11.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 11.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 11.54sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 11.56sINFOros2-12process has finished cleanly [pid 7728] + 11.59sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 11.59sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 11.59sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 11.60sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059000 ms (missed cycles : 3).[0m + 11.89sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 11.89sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 11.90sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 11.93sINFOros2-13process has finished cleanly [pid 7729] + 11.96sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 11.96sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 12.32sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 12.32sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 12.32sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 12.32sINFOros2-17process has finished cleanly [pid 7733] + 12.37sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 12.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393901 ms (missed cycles : 2).[0m + 12.78sINFOros2_control_node[2026-09-17 16:24:57.818] [info] Controller state will be published at 20 Hz. + 12.78sINFOros2_control_node[2026-09-17 16:24:57.819] [info] JointVelocityController 'on_configure' succeeded. + 13.12sINFOros2-22process has finished cleanly [pid 7742] + 13.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 13.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 13.14sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 13.19sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 13.20sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 13.20sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 13.21sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 13.21sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 13.54sINFOros2-14process has finished cleanly [pid 7730] + 13.54sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 13.54sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 13.54sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 13.60sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 13.60sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 13.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 13.61sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172894 ms (missed cycles : 2).[0m + 13.94sINFOros2-15process has finished cleanly [pid 7731] + 13.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 13.95sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 13.95sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sak31laa --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_k0esdeh0 --params-file /tmp/launch_params_7tw0o51g [0m + 14.04sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 14.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 14.04sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 14.04sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 14.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 14.04sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 14.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 14.05sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 14.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 14.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 14.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 14.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 14.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.38sINFOros2-18process has finished cleanly [pid 7734] + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615812 ms (missed cycles : 3).[0m + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287349 ms (missed cycles : 2).[0m + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697203 ms (missed cycles : 3).[0m + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363880 ms (missed cycles : 2).[0m + 17.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948267 ms (missed cycles : 3).[0m + 19.35sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 19.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 19.35sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 19.35sINFOobjective_server_nodeparameter_overrides: [] ×27 + 19.35sINFOobjective_server_nodecaller: ×27 + 19.35sINFOobjective_server_nodetype: 0 ×27 + 19.35sINFOobjective_server_nodename: "" ×27 + 19.35sINFOobjective_server_nodeinstance_id: "" ×27 + 19.35sINFOobjective_server_node ×27 + 19.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662304.42533088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.39sINFOmove_groupClearing octomap...[0m ×7 + 19.39sINFOmove_groupOctomap cleared.[0m ×7 + 19.39sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 19.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662304.43552876 seconds + 19.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662305.00752234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662305.01764560 seconds + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008392 ms (missed cycles : 2).[0m + 20.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662305.59577584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662305.74651170 seconds + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785612 ms (missed cycles : 2).[0m + 21.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 21.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662306.35297441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.33sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 21.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 21.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 21.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 21.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662306.41310549 seconds + 21.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662306.99272704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998554 ms (missed cycles : 3).[0m + 23.02sINFOobjective_server_nodePlanning for 177 path waypoints. + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069558 ms (missed cycles : 2).[0m + 23.32sINFOros2_control_nodeReceived new action goal[0m ×3 + 23.32sINFOros2_control_nodeAccepted new action goal[0m ×3 + 24.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639128 ms (missed cycles : 2).[0m + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558358 ms (missed cycles : 3).[0m + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350961 ms (missed cycles : 3).[0m + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492392 ms (missed cycles : 3).[0m + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049983 ms (missed cycles : 2).[0m + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181336 ms (missed cycles : 5).[0m + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589352 ms (missed cycles : 2).[0m + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955764 ms (missed cycles : 2).[0m + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220755 ms (missed cycles : 2).[0m + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749916 ms (missed cycles : 5).[0m + 35.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676960 ms (missed cycles : 3).[0m + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696960 ms (missed cycles : 3).[0m + 37.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727650 ms (missed cycles : 2).[0m + 38.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587933 ms (missed cycles : 2).[0m + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195833 ms (missed cycles : 2).[0m + 40.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125954 ms (missed cycles : 3).[0m + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512274 ms (missed cycles : 2).[0m + 42.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402085 ms (missed cycles : 2).[0m + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129177 ms (missed cycles : 2).[0m + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969162 ms (missed cycles : 5).[0m + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383388 ms (missed cycles : 4).[0m + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705127 ms (missed cycles : 3).[0m + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860807 ms (missed cycles : 2).[0m + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206089 ms (missed cycles : 2).[0m + 50.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460066 ms (missed cycles : 4).[0m + 51.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093169 ms (missed cycles : 3).[0m + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641659 ms (missed cycles : 3).[0m + 53.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901728 ms (missed cycles : 2).[0m + 53.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m + 54.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029352 ms (missed cycles : 4).[0m + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958868 ms (missed cycles : 3).[0m + 56.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068305 ms (missed cycles : 2).[0m + 57.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305844 ms (missed cycles : 2).[0m + 58.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500138 ms (missed cycles : 4).[0m + 59.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227344 ms (missed cycles : 3).[0m + 60.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683209 ms (missed cycles : 2).[0m + 62.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129686 ms (missed cycles : 3).[0m + 63.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718916 ms (missed cycles : 2).[0m + 64.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452277 ms (missed cycles : 2).[0m + 64.92sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789662350.01422143 seconds + 64.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609173 ms (missed cycles : 2).[0m + 65.52sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 65.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789662350.59632707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 66.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323892 ms (missed cycles : 2).[0m + 66.68sINFOobjective_server_nodeFound path in 0 iterations (4.169e-05 s). + 66.75sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 67.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939281 ms (missed cycles : 4).[0m + 68.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538724 ms (missed cycles : 3).[0m + 69.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393484 ms (missed cycles : 3).[0m + 70.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144276 ms (missed cycles : 2).[0m + 71.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789662356.17650414 seconds + 71.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170427 ms (missed cycles : 2).[0m + 71.67sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789662356.75457478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.46sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×8 + 72.47sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×8 + 72.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789662357.51481390 seconds + 72.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613555 ms (missed cycles : 3).[0m + 73.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 73.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789662358.20070529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 73.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270436 ms (missed cycles : 2).[0m + 73.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789662358.98086715 seconds + 74.52sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 74.56sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789662359.60343695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.882177 ms (missed cycles : 4).[0m + 75.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789662360.31360936 seconds + 75.84sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789662360.92619991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990698 ms (missed cycles : 2).[0m + 76.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789662361.63638902 seconds + 77.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465757 ms (missed cycles : 3).[0m + 77.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 77.21sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789662362.24721503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 77.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789662362.95738387 seconds + 78.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039415 ms (missed cycles : 2).[0m + 79.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846998 ms (missed cycles : 2).[0m + 80.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065722 ms (missed cycles : 2).[0m + 81.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117844 ms (missed cycles : 2).[0m + 82.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193376 ms (missed cycles : 2).[0m + 83.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478830 ms (missed cycles : 4).[0m + 84.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846969 ms (missed cycles : 2).[0m + 85.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175009 ms (missed cycles : 2).[0m + 86.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968371 ms (missed cycles : 3).[0m + 87.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013293 ms (missed cycles : 2).[0m + 87.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 88.02sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789662373.05665851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 88.54sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×3 + 88.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m + 88.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789662373.83681679 seconds + 88.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175330 ms (missed cycles : 3).[0m + 89.36sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 89.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789662374.44134164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334391 ms (missed cycles : 3).[0m + 90.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756496 ms (missed cycles : 3).[0m + 92.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769083 ms (missed cycles : 4).[0m + 93.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636318 ms (missed cycles : 3).[0m + 94.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912577 ms (missed cycles : 2).[0m + 95.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789662380.25148916 seconds + 95.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398423 ms (missed cycles : 3).[0m + 95.75sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 95.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789662380.83015323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705523 ms (missed cycles : 3).[0m + 96.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789662381.55031228 seconds + 97.07sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 97.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789662382.15944672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112742 ms (missed cycles : 2).[0m + 97.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789662382.88961196 seconds + 98.42sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 98.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789662383.49687767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974728 ms (missed cycles : 2).[0m + 99.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568125 ms (missed cycles : 3).[0m +100.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404623 ms (missed cycles : 3).[0m +100.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789662385.94699883 seconds +101.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +101.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789662386.52098894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +101.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053208 ms (missed cycles : 3).[0m +102.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789662387.37112784 seconds +102.57sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +103.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547769 ms (missed cycles : 3).[0m +103.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679268 ms (missed cycles : 2).[0m +104.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616566 ms (missed cycles : 3).[0m +105.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563330 ms (missed cycles : 3).[0m +107.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884580 ms (missed cycles : 3).[0m +108.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494054 ms (missed cycles : 4).[0m +108.41sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.41sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.41sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.43sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.43sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.43sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.43sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.43sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.43sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.43sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.44sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.44sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +108.44sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.44sERRORweb_video_auth_proxy-37process has died [pid 7832, 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']. +108.44sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.45sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.45sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.45sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.45sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +108.46sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.46sERRORweb_bridge_auth_proxy-36process has died [pid 7831, 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']. +108.46sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.46sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.46sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.46sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +108.47sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +108.48sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +108.49sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +108.50sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +108.51sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +108.52sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +108.53sINFOvideo_server-35process has finished cleanly [pid 7828] +108.54sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +108.55sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +108.56sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +108.57sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +108.58sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +108.60sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +108.61sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +108.62sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +108.63sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +108.63sERRORmove_group-23process has died [pid 7745, 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_t1oiibsg --params-file /tmp/launch_params_z9qeby7p --params-file /tmp/launch_params_688t0zpp --params-file /tmp/launch_params_suwx6_y3 --params-file /tmp/launch_params_rqxaof8v --params-file /tmp/launch_params_j2d6__sw']. +108.64sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +108.65sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +108.66sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +108.67sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +108.68sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +108.68sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +108.69sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +108.70sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +108.71sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +108.71sINFOvideo_server2026/09/17 16:26:33 INF shutting down gracefully +108.71sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +108.71sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +108.71sINFOvideo_server2026/09/17 16:26:33 INF [WebRTC] closing +108.71sINFOvideo_server2026/09/17 16:26:33 INF [RTSP] closing +108.71sINFOvideo_server2026/09/17 16:26:33 INF waiting for running hooks +108.71sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.71sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +108.71sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.71sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.71sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.71sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.71sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +108.71sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +108.71sERRORmove_groupwhat(): context cannot be slept with because it's invalid +108.71sERRORmove_groupStack trace (most recent call last) in thread 8395: +108.71sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +108.71sINFOros2_control_nodeShutdown request received....[0m +108.71sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +108.71sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +108.71sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +108.71sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +108.71sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +108.71sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +108.71sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2f1efea63, in __clone +108.71sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2f1e71aa3, in +108.71sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa2f2103db3, in +108.71sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fa2f2867b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +108.71sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa2f2495620, in rclcpp::Rate::sleep() +108.71sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa2f23d7d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +108.71sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa2f2399087, in +108.71sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa2f20d2390, in __cxa_throw +108.71sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa2f20bca54, in std::terminate() +108.71sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa2f20d20d9, in +108.71sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa2f20bcff4, in +108.71sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2f1dfd8fe, in abort +108.71sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2f1e1a27d, in raise +108.71sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa2f1e73b2c, in pthread_kill +108.71sERRORmove_groupAborted (Signal sent by tkill() 7745 0) +108.72sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +108.72sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +108.72sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +108.72sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +108.72sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +108.72sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +108.72sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +108.72sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +108.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +108.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +108.72sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +108.72sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +108.72sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +108.72sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +108.72sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +108.72sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +108.72sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +108.72sINFOros2_control_nodeShutting down the controller manager.[0m +108.72sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +108.72sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.72sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +108.72sERRORodom_qos_relay.pyTraceback (most recent call last): +108.72sINFOodom_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> +108.72sINFOodom_qos_relay.pymain() +108.72sINFOodom_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 +108.72sINFOodom_qos_relay.pyrclpy.spin(node) +108.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.72sINFOodom_qos_relay.pyexecutor.spin_once() +108.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.72sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +108.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.72sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.72sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.72sINFOodom_qos_relay.pyreturn next(self._cb_iter) +108.72sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +108.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.72sINFOodom_qos_relay.pyraise ExternalShutdownException() +108.72sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +108.72sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +108.83sINFOros2_control_nodeAsync messages lost 0[0m ×2 +108.83sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 +108.89sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m +109.53sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7827] +109.54sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +109.61sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7818] +109.62sINFOui_teleop_bridge-32process has finished cleanly [pid 7825] +109.63sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7817] +109.63sINFOexecute_objective_bridge-31process has finished cleanly [pid 7824] +109.66sINFOparameter_manager_node-24process has finished cleanly [pid 7746] +109.67sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7726] +109.69sINFOwaypoint_manager_node-25process has finished cleanly [pid 7810] +109.69sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7633] +109.69sINFOstatic_transform_publisher-8process has finished cleanly [pid 7632] +109.70sINFOcomponent_container_mt-30process has finished cleanly [pid 7823] +109.70sINFOstatic_transform_publisher-7process has finished cleanly [pid 7631] +109.71sERRORlidar_flattener.pyTraceback (most recent call last): +109.71sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +109.71sINFOlidar_flattener.pymain() +109.71sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +109.71sINFOlidar_flattener.pyrclpy.spin(node) +109.71sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +109.71sINFOlidar_flattener.pyexecutor.spin_once() +109.71sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +109.71sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +109.71sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +109.71sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +109.71sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +109.71sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +109.71sINFOlidar_flattener.pyreturn next(self._cb_iter) +109.71sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +109.71sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +109.71sINFOlidar_flattener.pyraise ExternalShutdownException() +109.71sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +109.73sINFOstatic_transform_publisher-4process has finished cleanly [pid 7628] +109.73sINFOstatic_transform_publisher-3process has finished cleanly [pid 7627] +109.74sINFOobjective_server_node[2026-09-17 16:26:34.778] [moveit_pro_license] [info] +109.74sINFOobjective_server_node* Application has successfully terminated +109.76sERRORlidar_flattener.py-6process has died [pid 7630, 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_j0y10gi5']. +109.78sERRORodom_qos_relay.py-5process has died [pid 7629, 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']. +109.81sINFOobjective_server_node_main-28process has finished cleanly [pid 7821] +109.81sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +110.06sERRORcomponent_container_isolated-2process has died [pid 7626, 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_mw9ve_k5 --params-file /tmp/launch_params_wvn95_gq -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.07sERRORcomponent_container_isolated-1process has died [pid 7625, 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_mw9ve_k5 --params-file /tmp/launch_params_3l80z8hf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +111.17sINFOweb_bridge-33process has finished cleanly [pid 7826] +111.17sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +111.35sINFOros2_control_node-11process has finished cleanly [pid 7727] +113.41sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +113.41sINFOcomponent_container_mt-29sending signal 'SIGKILL' to process[component_container_mt-29] +113.43sERRORcomponent_container_mt-29process has died [pid 7822, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_mt --ros-args --log-level info --ros-args -r __node:=moveit_studio_container -r __ns:=/']. +119.22sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-16-26-42-545413-96f8f0b39da1-8691 ×2 +124.09sINFOstatic_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' +124.10sINFOstatic_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' +124.10sINFOstatic_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' +124.11sINFOstatic_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' +124.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +124.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +124.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +124.25sINFOcontroller_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. +124.30sINFOcontroller_serverCreating controller server +124.33sINFOlocal_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. +124.33sINFOlocal_costmap.local_costmapCreating Costmap +124.34sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +124.35sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +124.36sINFOcontroller_managerupdate rate is 600 Hz +124.36sINFOcontroller_managerOverruns handling is : enabled +124.36sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +124.36sWARNcontroller_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. +124.38sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +124.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032445 ms (missed cycles : 2). +124.40sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +124.40sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +124.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +124.41sINFOros2_control_node-11process started with pid [8843] ×2 +124.42sINFOmove_group-23process started with pid [8870] ×2 +124.42sINFOparameter_manager_node-24process started with pid [8873] ×2 +124.42sINFOwaypoint_manager_node-25process started with pid [8919] ×2 +124.42sINFOmove_joint_resampler_node-26process started with pid [8922] ×2 +124.42sINFOmove_end_effector_resampler_node-27process started with pid [8923] ×2 +124.42sINFOobjective_server_node_main-28process started with pid [8924] ×2 +124.42sINFOcomponent_container_mt-29process started with pid [8925] ×2 +124.42sINFOcomponent_container_mt-30process started with pid [8926] ×2 +124.42sINFOexecute_objective_bridge-31process started with pid [8936] ×2 +124.42sINFOui_teleop_bridge-32process started with pid [8937] ×2 +124.42sINFOweb_bridge-33process started with pid [8938] ×2 +124.42sINFOtf2_web_republisher_node-34process started with pid [8939] ×2 +124.42sINFOvideo_server-35process started with pid [8940] ×2 +124.42sINFOweb_bridge_auth_proxy-36process started with pid [8941] ×2 +124.42sINFOweb_video_auth_proxy-37process started with pid [8942] ×2 +124.42sINFOcomponent_container_isolated-1process started with pid [8741] ×2 +124.42sINFOcomponent_container_isolated-2process started with pid [8742] ×2 +124.42sINFOstatic_transform_publisher-3process started with pid [8743] ×2 +124.42sINFOstatic_transform_publisher-4process started with pid [8744] ×2 +124.42sINFOodom_qos_relay.py-5process started with pid [8745] ×2 +124.42sINFOlidar_flattener.py-6process started with pid [8746] ×2 +124.42sINFOstatic_transform_publisher-7process started with pid [8747] ×2 +124.42sINFOstatic_transform_publisher-8process started with pid [8748] ×2 +124.42sINFOscan_to_scan_filter_chain-9process started with pid [8749] ×2 +124.42sINFOscan_to_scan_filter_chain-10process started with pid [8842] ×2 +124.42sINFOros2-12process started with pid [8844] ×2 +124.42sINFOros2-13process started with pid [8845] ×2 +124.42sINFOros2-14process started with pid [8846] ×2 +124.42sINFOros2-15process started with pid [8847] ×2 +124.42sINFOros2-16process started with pid [8848] ×2 +124.42sINFOros2-17process started with pid [8849] ×2 +124.42sINFOros2-18process started with pid [8852] ×2 +124.42sINFOros2-19process started with pid [8853] ×2 +124.42sINFOros2-20process started with pid [8856] ×2 +124.42sINFOros2-21process started with pid [8857] ×2 +124.42sINFOros2-22process started with pid [8867] ×2 +124.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +124.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +124.44sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +124.48sINFOsmoother_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. +124.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032445 ms (missed cycles : 2).[0m ×2 +124.49sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +124.49sINFOsmoother_serverCreating smoother server +124.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +124.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +124.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +124.52sINFOplanner_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. +124.55sINFOplanner_serverCreating +124.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +124.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +124.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +124.58sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +124.61sINFOglobal_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. +124.61sINFOglobal_costmap.global_costmapCreating Costmap +124.63sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +124.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +124.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +124.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +124.65sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +124.66sINFObehavior_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. +124.66sINFOmap_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. +124.66sINFOmap_serverCreating +124.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +124.68sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +124.68sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +124.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +124.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +124.71sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +124.71sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +124.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +124.76sINFObt_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. +124.78sINFObt_navigatorCreating +124.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +124.79sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +124.79sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.79sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.79sINFOrobot_state_publisherRobot initialized +124.79sINFOcontroller_managerReceived robot description from topic. +124.79sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +124.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +124.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +124.82sINFOlifecycle_manager_localizationCreating +124.82sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +124.82sINFOwaypoint_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. +124.83sINFOwaypoint_followerCreating +124.84sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +124.84sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +124.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +124.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +124.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +124.86sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +124.86sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +124.86sINFOmap_serverConfiguring +124.88sINFOvelocity_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. +124.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.88sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +124.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.90sINFOlifecycle_manager_navigationCreating +124.93sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +124.94sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +124.95sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +124.96sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +124.96sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +124.96sINFOcontroller_serverConfiguring controller interface +124.96sINFOcontroller_servergetting progress checker plugins.. +124.96sINFOcontroller_servergetting goal checker plugins.. +124.96sINFOcontroller_serverController frequency set to 20.0000Hz +124.96sINFOlocal_costmap.local_costmapConfiguring +124.96sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +124.96sINFOamclConfiguring +124.96sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +124.97sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +124.97sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +124.97sINFOmap_serverActivating +124.97sINFOmap_serverCreating bond (map_server) to lifecycle manager. +124.99sINFOvideo_server2026/09/17 16:26:50 INF MediaMTX v1.20.1, linux, amd64 ×2 +124.99sINFOvideo_server2026/09/17 16:26:50 INF configuration loaded from /tmp/moveit-webrtc-br5437il/mediamtx.yml ×2 +125.00sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +125.00sINFOvideo_server2026/09/17 16:26:50 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +125.01sINFOvideo_server2026/09/17 16:26:50 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +125.03sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +125.03sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +125.03sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +125.06sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +125.07sINFOcontroller_serverController Server has progress_checker progress checkers available. +125.08sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +125.08sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +125.09sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +125.11sINFOlifecycle_manager_localizationServer map_server connected with bond. +125.11sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +125.11sINFOamclActivating +125.11sINFOamclSubscribed to initial_pose_topic: /initialpose +125.11sWARNlaser_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. +125.11sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +125.11sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +125.13sINFOamclSubscribed to map_topic: /map +125.13sINFOamclSubscribed to scan_topic: /scan_merged +125.13sINFOamclCreated reinitialize_global_localization service +125.13sINFOamclCreated request_nomotion_update service +125.14sINFOamclA new map was received +125.14sINFOamclInitializing particle filter instance +125.14sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +125.14sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +125.15sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +125.15sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +125.15sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +125.15sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +125.16sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +125.16sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +125.16sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +125.16sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +125.16sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +125.16sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +125.16sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +125.16sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +125.16sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +125.17sINFOcontroller_serverOptimizer reset ×2 +125.18sINFOcontroller_serverController Server has FollowPath controllers available. +125.19sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +125.20sINFOsmoother_serverConfiguring smoother server +125.22sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +125.22sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +125.24sWARNlaser_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. +125.24sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +125.25sINFOplanner_serverConfiguring +125.25sINFOglobal_costmap.global_costmapConfiguring +125.26sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.522231 seconds +125.26sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +125.26sINFOmove_groupLoaded robot model in 0.522231 seconds[0m ×2 +125.26sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +125.27sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +125.28sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +125.28sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +125.28sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +125.29sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +125.33sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +125.33sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +125.33sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +125.36sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +125.36sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +125.36sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +125.39sINFOplanner_serverPlanner Server has GridBased planners available. +125.41sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +125.42sINFObehavior_serverConfiguring +125.42sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +125.42sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +125.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255809 ms (missed cycles : 2). +125.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255809 ms (missed cycles : 2).[0m ×2 +125.43sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +125.43sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +125.44sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +125.45sINFObehavior_serverConfiguring spin +125.48sINFObehavior_serverConfiguring backup +125.50sINFObehavior_serverConfiguring drive_on_heading +125.51sINFObehavior_serverConfiguring assisted_teleop +125.53sINFObehavior_serverConfiguring wait +125.54sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +125.54sINFObt_navigatorConfiguring +125.56sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +125.58sWARNbt_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 +125.61sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +125.77sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +125.89sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +125.89sINFOwaypoint_followerConfiguring +125.92sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +125.93sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +125.93sINFOvelocity_smootherConfiguring velocity smoother +125.93sINFOamclParticle filter initialization completed +125.93sINFOamclInitializing particles from estimated pose and covariance +125.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +125.94sINFOlifecycle_manager_localizationServer amcl connected with bond. +125.94sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +125.94sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +125.94sINFOamclThe bond connection to the lifecycle manager is now fully formed +125.94sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +125.94sINFOcontroller_serverActivating +125.94sINFOlocal_costmap.local_costmapActivating +125.94sINFOlocal_costmap.local_costmapChecking transform +125.94sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×8 +126.13sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +126.13sWARNmove_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. +126.13sWARNmove_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. +126.13sWARNmove_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. +126.13sWARNmove_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. +126.13sWARNmove_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. +126.13sWARNmove_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. +126.13sWARNmove_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. +126.13sWARNmove_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. +126.13sWARNmove_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. +126.13sWARNmove_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. +126.15sINFOwaypoint_manager_nodeLoaded robot model in 0.362633 seconds[0m ×2 +126.28sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +126.28sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +126.36sINFOmove_group[2026-09-17 16:26:51.398] [moveit_pro_license] [info] ×2 +126.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282528 ms (missed cycles : 3). +126.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282528 ms (missed cycles : 3).[0m ×2 +126.72sWARNwaypoint_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. +126.72sWARNwaypoint_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. +126.72sWARNwaypoint_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. +126.72sWARNwaypoint_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. +126.72sWARNwaypoint_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. +126.72sWARNwaypoint_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. +126.72sWARNwaypoint_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. +126.73sWARNwaypoint_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. +126.73sWARNwaypoint_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. +126.73sWARNwaypoint_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. +126.74sWARNwaypoint_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. +126.74sWARNwaypoint_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. +126.74sWARNwaypoint_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. +126.74sWARNwaypoint_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. +126.74sWARNwaypoint_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. +126.74sWARNwaypoint_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. +126.75sWARNwaypoint_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. +126.75sWARNwaypoint_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. +126.75sWARNwaypoint_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. +126.75sWARNwaypoint_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. +126.75sWARNwaypoint_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. +126.75sWARNwaypoint_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. +126.75sWARNwaypoint_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. +126.75sWARNwaypoint_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. +126.76sWARNwaypoint_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. +126.76sWARNwaypoint_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. +126.76sWARNwaypoint_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. +126.76sWARNwaypoint_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. +126.86sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +126.86sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +126.86sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +126.86sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +126.86sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +126.87sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +126.87sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +126.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +126.87sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +126.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +126.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +127.06sINFOwaypoint_manager_node[2026-09-17 16:26:52.104] [moveit_pro_license] [info] ×2 +127.14sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +127.14sINFOcontroller_managerActivating component 'ur_mujoco_control'. +127.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +127.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +127.34sINFOobjective_server_node[2026-09-17 16:26:52.376] [moveit_pro_license] [info] ×2 +127.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +127.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +127.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +127.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +127.41sINFOobjective_server_nodeLoaded robot model in 0.0281199 seconds[0m ×2 +127.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073375 ms (missed cycles : 2). +127.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073375 ms (missed cycles : 2).[0m ×2 +127.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +127.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +127.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +127.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +127.52sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +127.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +127.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +127.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +127.66sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +127.68sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +127.68sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +127.68sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +127.69sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +127.69sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +127.69sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +127.69sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +127.69sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +127.69sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +127.69sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +127.69sINFOstreaming_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) +127.70sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +127.84sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +127.84sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +127.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +127.87sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +127.90sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +127.90sINFOros2-18process has finished cleanly [pid 8852] ×2 +127.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +127.92sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +127.94sINFOstreaming_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) +127.95sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +127.97sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +127.97sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +128.00sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +128.00sWARNobjective_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. +128.00sWARNobjective_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. +128.00sWARNobjective_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. +128.00sWARNobjective_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. +128.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.01sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.03sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +128.03sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +128.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +128.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +128.18sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +128.18sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +128.19sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +128.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656170 ms (missed cycles : 4). +128.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656170 ms (missed cycles : 4).[0m ×2 +128.53sINFOcomponent_container_mtLoaded robot model in 0.426581 seconds[0m ×2 +128.60sINFOros2_control_node[2026-09-17 16:26:53.639] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +128.60sINFOros2_control_node[2026-09-17 16:26:53.644] [info] Controller state will be published at 10 Hz. ×2 +128.60sINFOros2_control_node[2026-09-17 16:26:53.645] [info] VelocityForceController 'on_configure' succeeded. ×2 +128.70sWARNros2_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 +128.73sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +128.73sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +128.81sINFOmove_groupMoveGroup debug mode is ON +128.93sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +128.93sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +128.93sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +128.93sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +128.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +128.99sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +128.99sINFOforce_torque_sensor_broadcasterconfigure successful +129.01sINFOros2-20process has finished cleanly [pid 8856] ×2 +129.01sINFOmove_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 ******************************************************** +129.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +129.02sINFOcontroller_managerSuccessfully switched controllers! ×20 +129.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.06sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.07sWARNplanning_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. +129.24sINFOcomponent_container_mt[2026-09-17 16:26:54.283] [moveit_pro_license] [info] ×2 +129.27sWARNros2_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 +129.46sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +129.46sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +129.47sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +129.47sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +129.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918485 ms (missed cycles : 2). +129.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918485 ms (missed cycles : 2).[0m ×2 +129.49sINFOros2-12process has finished cleanly [pid 8844] ×2 +129.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +129.54sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +129.54sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +129.56sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +129.56sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +129.75sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789662413.213 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +129.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +129.87sINFOcontroller_managerLoading controller 'velocity_force_controller' +129.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +129.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +129.91sINFOros2-14process has finished cleanly [pid 8846] ×2 +129.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +129.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +129.94sINFOlocal_costmap.local_costmapstart +130.04sWARNcontroller_serverParameter controller_server.verbose not found +130.05sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +130.15sINFOlifecycle_manager_navigationServer controller_server connected with bond. +130.15sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +130.15sINFOsmoother_serverActivating +130.15sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +130.26sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +130.26sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +130.26sINFOplanner_serverActivating +130.26sINFOglobal_costmap.global_costmapActivating +130.26sINFOglobal_costmap.global_costmapChecking transform +130.26sINFOglobal_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. +130.34sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 24.582ms +130.44sINFOros2_control_node[2026-09-17 16:26:55.483] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +130.44sINFOros2_control_node[2026-09-17 16:26:55.484] [info] Controller state will be published at 10 Hz. ×2 +130.45sINFOros2_control_node[2026-09-17 16:26:55.486] [info] VelocityForceController 'on_configure' succeeded. ×2 +130.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301152 ms (missed cycles : 2). +130.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301152 ms (missed cycles : 2).[0m ×2 +130.76sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789662415.776160, but only time 1789662415.834745 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +130.76sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +130.76sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +130.80sINFOros2-19process has finished cleanly [pid 8853] ×2 +130.84sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +130.84sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +130.89sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +130.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +131.26sINFOglobal_costmap.global_costmapstart +131.39sINFOros2_control_node[2026-09-17 16:26:56.432] [info] Controller state will be published at 20 Hz. ×2 +131.39sINFOros2_control_node[2026-09-17 16:26:56.433] [info] JointVelocityController 'on_configure' succeeded. ×2 +131.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564604 ms (missed cycles : 3). +131.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564604 ms (missed cycles : 3).[0m ×2 +131.74sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +131.74sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +131.75sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +131.75sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +131.77sINFOros2-22process has finished cleanly [pid 8867] ×2 +131.81sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +131.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +131.82sINFOplatform_velocity_controller_nav2configure successful +132.13sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +132.13sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +132.13sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +132.13sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +132.17sINFOros2-17process has finished cleanly [pid 8849] ×2 +132.18sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +132.18sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +132.19sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +132.19sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +132.31sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +132.31sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +132.42sINFOlifecycle_manager_navigationServer planner_server connected with bond. +132.42sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +132.42sINFObehavior_serverActivating +132.42sINFObehavior_serverActivating spin +132.42sINFObehavior_serverActivating backup +132.42sINFObehavior_serverActivating drive_on_heading +132.42sINFObehavior_serverActivating assisted_teleop +132.42sINFObehavior_serverActivating wait +132.42sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +132.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +132.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' +132.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +132.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +132.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798386 ms (missed cycles : 2). +132.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798386 ms (missed cycles : 2).[0m ×2 +132.53sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +132.53sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +132.53sINFObt_navigatorActivating +132.54sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +132.55sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +132.57sINFOros2-13process has finished cleanly [pid 8845] ×2 +132.60sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +132.71sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +132.71sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +132.71sINFOwaypoint_followerActivating +132.71sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +132.82sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +132.82sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +132.82sINFOvelocity_smootherActivating +132.82sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +132.92sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +132.92sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +132.92sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +133.12sINFOros2_control_node[2026-09-17 16:26:58.159] [info] Controller state will be published at 20 Hz. ×2 +133.12sINFOros2_control_node[2026-09-17 16:26:58.160] [info] JointVelocityController 'on_configure' succeeded. ×2 +133.50sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +133.50sINFOcontroller_managerLoading controller 'platform_velocity_controller' +133.50sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +133.50sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +133.50sINFOros2-21process has finished cleanly [pid 8857] ×2 +133.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002613 ms (missed cycles : 2). +133.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002613 ms (missed cycles : 2).[0m ×2 +133.55sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +133.56sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +133.56sINFOplatform_velocity_controllerconfigure successful +133.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +133.57sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +133.90sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +133.90sINFOcontroller_managerLoading controller 'vacuum_gripper' +133.91sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of +133.91sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_fy_y047k --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_sg_ydfru --params-file /tmp/launch_params_ncsjx4of [0m ×2 +133.93sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +133.96sINFOros2-15process has finished cleanly [pid 8847] ×2 +133.96sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +133.97sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +133.97sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +133.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +133.98sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +134.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +134.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +134.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +134.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +134.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +134.32sINFOros2-16process has finished cleanly [pid 8848] ×2 +134.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872123 ms (missed cycles : 2). +134.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872123 ms (missed cycles : 2).[0m ×2 +135.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814008 ms (missed cycles : 4). +135.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814008 ms (missed cycles : 4).[0m ×2 +136.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4). +136.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4).[0m ×2 +137.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). +137.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 +138.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). +138.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 +139.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +139.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +139.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +139.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +139.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 +139.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). +139.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 +139.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +139.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 +140.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +140.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +140.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 +140.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). +140.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 +141.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +141.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +141.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +141.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. +141.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 +141.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +141.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). +141.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 +141.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +141.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +141.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +141.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ]

▾/__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	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[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	21 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.14sINFOobjective_server_nodecaller: ×10 + 2.14sINFOobjective_server_nodetype: 0 ×10 + 2.14sINFOobjective_server_nodename: "" ×10 + 2.14sINFOobjective_server_nodeinstance_id: "" ×10 + 2.14sINFOobjective_server_node ×10 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.18sINFOmove_groupClearing octomap...[0m ×4 + 2.18sINFOmove_groupOctomap cleared.[0m ×4 + 2.18sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.18sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4).[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.59sINFOobjective_server_nodecaller: ×10 + 2.59sINFOobjective_server_nodetype: 0 ×10 + 2.59sINFOobjective_server_nodename: "" ×10 + 2.59sINFOobjective_server_nodeinstance_id: "" ×10 + 2.59sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.64sINFOmove_groupClearing octomap...[0m ×4 + 2.64sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4).[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.59sINFOobjective_server_nodecaller: ×10 + 2.59sINFOobjective_server_nodetype: 0 ×10 + 2.59sINFOobjective_server_nodename: "" ×10 + 2.59sINFOobjective_server_nodeinstance_id: "" ×10 + 2.59sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.64sINFOmove_groupClearing octomap...[0m ×4 + 2.64sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 312 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4).[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.59sINFOobjective_server_nodecaller: ×10 + 2.59sINFOobjective_server_nodetype: 0 ×10 + 2.59sINFOobjective_server_nodename: "" ×10 + 2.59sINFOobjective_server_nodeinstance_id: "" ×10 + 2.59sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.64sINFOmove_groupClearing octomap...[0m ×4 + 2.64sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4).[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.59sINFOobjective_server_nodecaller: ×10 + 2.59sINFOobjective_server_nodetype: 0 ×10 + 2.59sINFOobjective_server_nodename: "" ×10 + 2.59sINFOobjective_server_nodeinstance_id: "" ×10 + 2.59sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.64sINFOmove_groupClearing octomap...[0m ×4 + 2.64sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4).[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.59sINFOobjective_server_nodecaller: ×10 + 2.59sINFOobjective_server_nodetype: 0 ×10 + 2.59sINFOobjective_server_nodename: "" ×10 + 2.59sINFOobjective_server_nodeinstance_id: "" ×10 + 2.59sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.64sINFOmove_groupClearing octomap...[0m ×4 + 2.64sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895277 ms (missed cycles : 4).[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.59sINFOobjective_server_nodecaller: ×10 + 2.59sINFOobjective_server_nodetype: 0 ×10 + 2.59sINFOobjective_server_nodename: "" ×10 + 2.59sINFOobjective_server_nodeinstance_id: "" ×10 + 2.59sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.64sINFOmove_groupClearing octomap...[0m ×4 + 2.64sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal + 6.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.14sINFOobjective_server_nodecaller: ×10 + 2.14sINFOobjective_server_nodetype: 0 ×10 + 2.14sINFOobjective_server_nodename: "" ×10 + 2.14sINFOobjective_server_nodeinstance_id: "" ×10 + 2.14sINFOobjective_server_node ×10 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.18sINFOmove_groupClearing octomap...[0m ×4 + 2.18sINFOmove_groupOctomap cleared.[0m ×4 + 2.18sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.18sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	24 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149457 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149457 ms (missed cycles : 4).[0m ×2

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

8 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070651 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][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: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521171 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: 1789662424.39739203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789662424.40760326 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573404 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789662424.99665403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789662425.00678134 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789662425.58575034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789662425.73707175 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972295 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789662426.34148049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789662426.43162155 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779166 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789662427.00960755 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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450839 ms (missed cycles : 3).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304048 ms (missed cycles : 2).[0m ×2